2025-06-05T05:55:47.968Z,1749102947.968 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-06-05T05:55:47.968Z,1749102947.968 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-05T05:55:47.968Z,1749102947.968 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-06-05T05:55:47.968Z,1749102947.968 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-06-05T05:55:47.969Z,1749102947.969 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-06-05T05:55:48.057Z,1749102948.057 [CommandExec](IMPORTANT): got command restart logs
2025-06-05T05:55:48.343Z,1749102948.343 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-05T05:55:48.344Z,1749102948.344 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-05T05:55:53.977Z,1749102953.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:55:54.076Z,1749102954.076 [DAT](DEBUG): Acoustic response timeout
2025-06-05T05:55:54.076Z,1749102954.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:55:54.327Z,1749102954.327 [DAT](INFO): DAT read: user:573>
2025-06-05T05:55:54.328Z,1749102954.328 [DAT](INFO): DAT read: Tx time:05:55:53.4679
2025-06-05T05:55:54.328Z,1749102954.328 [DAT](INFO): Ping request sent.
2025-06-05T05:55:54.329Z,1749102954.329 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:55:54.329Z,1749102954.329 [DAT](INFO): publishing transmit ping time
2025-06-05T05:55:54.331Z,1749102954.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002296
2025-06-05T05:55:54.579Z,1749102954.579 [DAT](INFO): DAT read: TxSync time:05:55:53.4671
2025-06-05T05:55:54.580Z,1749102954.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251813
2025-06-05T05:55:54.831Z,1749102954.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502765
2025-06-05T05:55:55.083Z,1749102955.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754794
2025-06-05T05:55:55.335Z,1749102955.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006869
2025-06-05T05:55:55.587Z,1749102955.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258954
2025-06-05T05:55:55.839Z,1749102955.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510789
2025-06-05T05:55:56.092Z,1749102956.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763883
2025-06-05T05:55:56.343Z,1749102956.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014841
2025-06-05T05:55:56.596Z,1749102956.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267670
2025-06-05T05:55:56.847Z,1749102956.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518647
2025-06-05T05:55:57.099Z,1749102957.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770958
2025-06-05T05:55:57.351Z,1749102957.351 [DAT](INFO): DAT read: Rx Time:05:55:56.0104
2025-06-05T05:55:57.352Z,1749102957.352 [DAT](INFO): Rx dataTimestamp_ set to:1749102957.351529
2025-06-05T05:55:57.354Z,1749102957.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025001
2025-06-05T05:55:57.603Z,1749102957.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274627
2025-06-05T05:55:57.861Z,1749102957.861 [DAT](INFO): DAT read: 05:55:56.0104 LVL= 12368, 24273, 19570, 20067, AGC= 65, IDX= 340,-0.29,-2.530, 2.573,-2.684, 2.824, PHS= 1.017,-0.204, 0.772, RAW= 139.1, -26.6, CAL= 143.8, -32.5, ROT= 6.2, 32.5
2025-06-05T05:55:57.863Z,1749102957.863 [DAT](INFO): got valid direction response:
05:55:56.0104 LVL= 12368, 24273, 19570, 20067, AGC= 65, IDX= 340,-0.29,-2.530, 2.573,-2.684, 2.824, PHS= 1.017,-0.204, 0.772, RAW= 139.1, -26.6, CAL= 143.8, -32.5, ROT= 6.2, 32.5
2025-06-05T05:55:57.865Z,1749102957.865 [DAT](INFO): DAT read: Bearing 6.2, 32.5 (Local)
2025-06-05T05:55:57.865Z,1749102957.865 [DAT](INFO): Local bearing/azimuth received:
Bearing 6.2, 32.5 (Local)
2025-06-05T05:55:57.868Z,1749102957.868 [DAT](INFO): DAT read: Range 10 to 50 : 103.7 m (Round-trip 138.3 ms) speed -0.2 m/s
2025-06-05T05:55:57.870Z,1749102957.870 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T05:55:57.880Z,1749102957.880 [DAT](INFO): direction in FSK: [0.838458,0.091086,-0.537300]
2025-06-05T05:55:57.880Z,1749102957.880 [DAT](INFO): publishing direction and range info
2025-06-05T05:55:58.011Z,1749102958.011 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T05:56:12.635Z,1749102972.635 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T05:56:14.019Z,1749102974.019 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T05:56:17.292Z,1749102977.292 [NAL9602](INFO): SBD MO Status=2, MOMSN=48135, MT Status=2, MTMSN=0
2025-06-05T05:56:17.292Z,1749102977.292 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T05:56:43.992Z,1749103003.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T05:56:54.220Z,1749103014.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:56:54.424Z,1749103014.424 [DAT](DEBUG): Acoustic response timeout
2025-06-05T05:56:54.425Z,1749103014.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:56:54.677Z,1749103014.677 [DAT](INFO): DAT read: user:574>
2025-06-05T05:56:54.677Z,1749103014.677 [DAT](INFO): DAT read: Tx time:05:56:53.8185
2025-06-05T05:56:54.678Z,1749103014.678 [DAT](INFO): Ping request sent.
2025-06-05T05:56:54.678Z,1749103014.678 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:56:54.678Z,1749103014.678 [DAT](INFO): publishing transmit ping time
2025-06-05T05:56:54.679Z,1749103014.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000899
2025-06-05T05:56:54.927Z,1749103014.927 [DAT](INFO): DAT read: TxSync time:05:56:53.8177
2025-06-05T05:56:54.928Z,1749103014.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250213
2025-06-05T05:56:55.180Z,1749103015.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501528
2025-06-05T05:56:55.431Z,1749103015.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753261
2025-06-05T05:56:55.683Z,1749103015.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005392
2025-06-05T05:56:55.935Z,1749103015.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257311
2025-06-05T05:56:56.187Z,1749103016.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509498
2025-06-05T05:56:56.439Z,1749103016.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761430
2025-06-05T05:56:56.693Z,1749103016.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014708
2025-06-05T05:56:56.944Z,1749103016.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265802
2025-06-05T05:56:57.195Z,1749103017.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517222
2025-06-05T05:56:57.448Z,1749103017.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770060
2025-06-05T05:56:57.699Z,1749103017.699 [DAT](INFO): DAT read: Rx Time:05:56:56.3546
2025-06-05T05:56:57.700Z,1749103017.700 [DAT](INFO): Rx dataTimestamp_ set to:1749103017.699292
2025-06-05T05:56:57.700Z,1749103017.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022291
2025-06-05T05:56:57.952Z,1749103017.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274108
2025-06-05T05:56:58.210Z,1749103018.210 [DAT](INFO): DAT read: 05:56:56.3546 LVL= 18080, 23025, 21138, 29715, AGC= 60, IDX= 256, 0.30,-1.312,-3.111, 2.888,-1.913, PHS= 0.689,-1.150,-1.485, RAW= 81.8, 18.7, CAL= 85.0, 26.3, ROT= 65.0, -26.3
2025-06-05T05:56:58.211Z,1749103018.211 [DAT](INFO): got valid direction response:
05:56:56.3546 LVL= 18080, 23025, 21138, 29715, AGC= 60, IDX= 256, 0.30,-1.312,-3.111, 2.888,-1.913, PHS= 0.689,-1.150,-1.485, RAW= 81.8, 18.7, CAL= 85.0, 26.3, ROT= 65.0, -26.3
2025-06-05T05:56:58.212Z,1749103018.212 [DAT](INFO): DAT read: Bearing 65.0, -26.3 (Local)
2025-06-05T05:56:58.212Z,1749103018.212 [DAT](INFO): Local bearing/azimuth received:
Bearing 65.0, -26.3 (Local)
2025-06-05T05:56:58.214Z,1749103018.214 [DAT](INFO): DAT read: Range 10 to 50 : 99.0 m (Round-trip 132.0 ms) speed 0.1 m/s
2025-06-05T05:56:58.214Z,1749103018.214 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T05:56:58.215Z,1749103018.215 [DAT](INFO): direction in FSK: [0.378872,0.812493,0.443071]
2025-06-05T05:56:58.215Z,1749103018.215 [DAT](INFO): publishing direction and range info
2025-06-05T05:57:12.115Z,1749103032.115 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.483765
2025-06-05T05:57:12.162Z,1749103032.162 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-05T05:57:12.163Z,1749103032.163 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-05T05:57:12.164Z,1749103032.164 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-05T05:57:12.164Z,1749103032.164 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-05T05:57:12.164Z,1749103032.164 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-05T05:57:13.120Z,1749103033.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T05:57:20.099Z,1749103040.099 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T05:57:24.414Z,1749103044.414 [Radio_Surface](INFO): Powering down
2025-06-05T05:57:33.597Z,1749103053.597 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, -9, +68,A
2025-06-05T05:57:43.243Z,1749103063.243 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T05:57:43.678Z,1749103063.678 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060421585986,35.0, +13.61502.2, 0
2025-06-05T05:57:44.247Z,1749103064.247 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-05T05:57:44.247Z,1749103064.247 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T05:57:53.771Z,1749103073.771 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060421590986,35.0, +13.31501.4, 0
2025-06-05T05:57:54.598Z,1749103074.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:57:54.683Z,1749103074.683 [DAT](DEBUG): Acoustic response timeout
2025-06-05T05:57:54.684Z,1749103074.684 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:57:54.937Z,1749103074.937 [DAT](INFO): DAT read: user:575>
2025-06-05T05:57:54.939Z,1749103074.939 [DAT](INFO): DAT read: Tx time:05:57:54.0691
2025-06-05T05:57:54.939Z,1749103074.939 [DAT](INFO): Ping request sent.
2025-06-05T05:57:54.939Z,1749103074.939 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:57:54.939Z,1749103074.939 [DAT](INFO): publishing transmit ping time
2025-06-05T05:57:54.940Z,1749103074.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768
2025-06-05T05:57:55.187Z,1749103075.187 [DAT](INFO): DAT read: TxSync time:05:57:54.0683
2025-06-05T05:57:55.188Z,1749103075.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248869
2025-06-05T05:57:55.439Z,1749103075.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500268
2025-06-05T05:57:55.693Z,1749103075.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753581
2025-06-05T05:57:55.944Z,1749103075.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004564
2025-06-05T05:57:56.195Z,1749103076.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256093
2025-06-05T05:57:56.447Z,1749103076.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507918
2025-06-05T05:57:56.699Z,1749103076.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759860
2025-06-05T05:57:56.951Z,1749103076.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011848
2025-06-05T05:57:57.204Z,1749103077.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264452
2025-06-05T05:57:57.455Z,1749103077.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515909
2025-06-05T05:57:57.708Z,1749103077.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768921
2025-06-05T05:57:57.960Z,1749103077.960 [DAT](INFO): DAT read: Rx Time:05:57:56.6443
2025-06-05T05:57:57.960Z,1749103077.960 [DAT](INFO): Rx dataTimestamp_ set to:1749103077.960191
2025-06-05T05:57:57.961Z,1749103077.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021971
2025-06-05T05:57:58.212Z,1749103078.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272918
2025-06-05T05:57:58.469Z,1749103078.469 [DAT](INFO): DAT read: 05:57:56.6443 LVL= 18800, 22225, 21138, 27491, AGC= 61, IDX= 324,-0.44, 1.560, 3.087, 0.809, 1.286, PHS= 0.362, 1.848,-0.480, RAW= 350.9, -16.7, CAL= 352.9, -23.2, ROT= 157.1, 23.2
2025-06-05T05:57:58.470Z,1749103078.470 [DAT](INFO): got valid direction response:
05:57:56.6443 LVL= 18800, 22225, 21138, 27491, AGC= 61, IDX= 324,-0.44, 1.560, 3.087, 0.809, 1.286, PHS= 0.362, 1.848,-0.480, RAW= 350.9, -16.7, CAL= 352.9, -23.2, ROT= 157.1, 23.2
2025-06-05T05:57:58.471Z,1749103078.471 [DAT](INFO): DAT read: Bearing 157.1, 23.2 (Local)
2025-06-05T05:57:58.471Z,1749103078.471 [DAT](INFO): Local bearing/azimuth received:
Bearing 157.1, 23.2 (Local)
2025-06-05T05:57:58.472Z,1749103078.472 [DAT](INFO): DAT read: Range 10 to 50 : 128.2 m (Round-trip 171.0 ms) speed -1.2 m/s
2025-06-05T05:57:58.473Z,1749103078.473 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T05:57:58.476Z,1749103078.476 [DAT](INFO): direction in FSK: [-0.846694,0.357657,-0.393942]
2025-06-05T05:57:58.477Z,1749103078.477 [DAT](INFO): publishing direction and range info
2025-06-05T05:58:03.945Z,1749103083.945 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060421591986,35.0, +13.0, 0.0,1500.:RA, 0.00, 457.55, 442.55, 0.00
2025-06-05T05:58:14.386Z,1749103094.386 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T05:58:15.391Z,1749103095.391 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T05:58:18.854Z,1749103098.854 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -33, +800, :BE, -3,
2025-06-05T05:58:23.673Z,1749103103.673 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for beam range. Device response is::RA 354.24, 340.62, 260.57, 490.49
2025-06-05T05:58:45.511Z,1749103125.511 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T05:58:46.515Z,1749103126.515 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T05:58:54.612Z,1749103134.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:58:54.691Z,1749103134.691 [DAT](DEBUG): Acoustic response timeout
2025-06-05T05:58:54.691Z,1749103134.691 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:58:54.944Z,1749103134.944 [DAT](INFO): DAT read: user:576>
2025-06-05T05:58:54.945Z,1749103134.945 [DAT](INFO): DAT read: Tx time:05:58:54.0696
2025-06-05T05:58:54.945Z,1749103134.945 [DAT](INFO): Ping request sent.
2025-06-05T05:58:54.945Z,1749103134.945 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:58:54.946Z,1749103134.946 [DAT](INFO): DAT read: TxSync time:05:58:54.0688
2025-06-05T05:58:54.947Z,1749103134.947 [DAT](INFO): publishing transmit ping time
2025-06-05T05:58:54.947Z,1749103134.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001695
2025-06-05T05:58:55.195Z,1749103135.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249612
2025-06-05T05:58:55.447Z,1749103135.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501824
2025-06-05T05:58:55.704Z,1749103135.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758417
2025-06-05T05:58:55.951Z,1749103135.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005651
2025-06-05T05:58:56.204Z,1749103136.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258116
2025-06-05T05:58:56.455Z,1749103136.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509720
2025-06-05T05:58:56.709Z,1749103136.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762831
2025-06-05T05:58:56.964Z,1749103136.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015814
2025-06-05T05:58:57.212Z,1749103137.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265766
2025-06-05T05:58:57.463Z,1749103137.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517743
2025-06-05T05:58:57.717Z,1749103137.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771224
2025-06-05T05:58:57.968Z,1749103137.968 [DAT](INFO): DAT read: Rx Time:05:58:56.7004
2025-06-05T05:58:57.969Z,1749103137.969 [DAT](INFO): Rx dataTimestamp_ set to:1749103137.968173
2025-06-05T05:58:57.969Z,1749103137.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023948
2025-06-05T05:58:58.219Z,1749103138.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273702
2025-06-05T05:58:58.484Z,1749103138.484 [DAT](INFO): DAT read: 05:58:56.7004 LVL= 23712, 18289, 20786, 28147, AGC= 64, IDX= 477,-0.22,-0.260, 1.510,-0.552,-0.467, PHS= 0.295, 2.024,-0.089, RAW= 339.8, -22.0, CAL= 343.8, -31.8, ROT= 166.2, 31.8
2025-06-05T05:58:58.486Z,1749103138.486 [DAT](INFO): got valid direction response:
05:58:56.7004 LVL= 23712, 18289, 20786, 28147, AGC= 64, IDX= 477,-0.22,-0.260, 1.510,-0.552,-0.467, PHS= 0.295, 2.024,-0.089, RAW= 339.8, -22.0, CAL= 343.8, -31.8, ROT= 166.2, 31.8
2025-06-05T05:58:58.488Z,1749103138.488 [DAT](INFO): DAT read: Bearing 166.2, 31.8 (Local)
2025-06-05T05:58:58.488Z,1749103138.488 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.2, 31.8 (Local)
2025-06-05T05:58:58.492Z,1749103138.492 [DAT](INFO): DAT read: Range 10 to 50 : 169.9 m (Round-trip 226.6 ms) speed -0.1 m/s
2025-06-05T05:58:58.493Z,1749103138.493 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T05:58:58.495Z,1749103138.495 [DAT](INFO): direction in FSK: [-0.825360,0.202728,-0.526956]
2025-06-05T05:58:58.495Z,1749103138.495 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:02.327Z,1749103142.327 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-06-05T05:59:02.328Z,1749103142.328 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-06-05T05:59:02.328Z,1749103142.328 [lineCaptureHoming:InitialDive] Stopped
2025-06-05T05:59:02.328Z,1749103142.328 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-06-05T05:59:02.328Z,1749103142.328 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-06-05T05:59:02.328Z,1749103142.328 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-06-05T05:59:02.328Z,1749103142.328 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-06-05T05:59:02.328Z,1749103142.328 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-06-05T05:59:02.328Z,1749103142.328 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-06-05T05:59:02.329Z,1749103142.329 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-06-05T05:59:02.329Z,1749103142.329 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-06-05T05:59:02.695Z,1749103142.695 [lineCaptureHoming:RepeatHack] Stopped
2025-06-05T05:59:02.695Z,1749103142.695 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-06-05T05:59:02.695Z,1749103142.695 [lineCaptureHoming:RepeatHack:A] Stopped
2025-06-05T05:59:02.695Z,1749103142.695 [lineCaptureHoming:Lap] Running Loop=1
2025-06-05T05:59:02.695Z,1749103142.695 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-06-05T05:59:02.695Z,1749103142.695 [lineCaptureHoming:Lap:A] Running Loop=1
2025-06-05T05:59:03.103Z,1749103143.103 [lineCaptureHoming:Lap:A] Stopped
2025-06-05T05:59:03.103Z,1749103143.103 [lineCaptureHoming:Lap:B] Running Loop=1
2025-06-05T05:59:03.103Z,1749103143.103 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-06-05T05:59:03.544Z,1749103143.544 [lineCaptureHoming:LineCapture] Running Loop=1
2025-06-05T05:59:03.544Z,1749103143.544 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-06-05T05:59:03.544Z,1749103143.544 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-05T05:59:03.544Z,1749103143.544 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-05T05:59:03.544Z,1749103143.544 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T05:59:03.544Z,1749103143.544 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T05:59:03.544Z,1749103143.544 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T05:59:03.544Z,1749103143.544 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T05:59:03.544Z,1749103143.544 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T05:59:03.545Z,1749103143.545 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T05:59:03.545Z,1749103143.545 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-05T05:59:03.545Z,1749103143.545 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-05T05:59:03.545Z,1749103143.545 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-05T05:59:03.545Z,1749103143.545 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-06-05T05:59:03.545Z,1749103143.545 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-05T05:59:03.545Z,1749103143.545 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-05T05:59:03.545Z,1749103143.545 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-06-05T05:59:03.545Z,1749103143.545 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-05T05:59:03.545Z,1749103143.545 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-05T05:59:03.545Z,1749103143.545 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-05T05:59:03.545Z,1749103143.545 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T05:59:03.546Z,1749103143.546 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-06-05T05:59:03.546Z,1749103143.546 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-05T05:59:03.546Z,1749103143.546 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-05T05:59:03.547Z,1749103143.547 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-05T05:59:03.547Z,1749103143.547 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-05T05:59:03.547Z,1749103143.547 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-05T05:59:03.547Z,1749103143.547 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-05T05:59:03.547Z,1749103143.547 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-05T05:59:03.548Z,1749103143.548 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-05T05:59:03.548Z,1749103143.548 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T05:59:03.548Z,1749103143.548 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T05:59:03.548Z,1749103143.548 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T05:59:03.549Z,1749103143.549 [lineCaptureHoming:LineCapture:A] Stopped
2025-06-05T05:59:03.549Z,1749103143.549 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-06-05T05:59:03.901Z,1749103143.901 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-05T05:59:03.901Z,1749103143.901 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T05:59:03.902Z,1749103143.902 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-05T05:59:03.903Z,1749103143.903 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 169.899994 m (mode 0.000000 count ).
2025-06-05T05:59:03.903Z,1749103143.903 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-05T05:59:03.903Z,1749103143.903 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-05T05:59:03.906Z,1749103143.906 [lineCaptureHoming:LineCapture:B] Stopped
2025-06-05T05:59:03.907Z,1749103143.907 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-06-05T05:59:04.334Z,1749103144.334 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-05T05:59:04.335Z,1749103144.335 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-05T05:59:04.335Z,1749103144.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:04.337Z,1749103144.337 [lineCaptureHoming:LineCapture:D] Stopped
2025-06-05T05:59:04.337Z,1749103144.337 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-06-05T05:59:04.520Z,1749103144.520 [DAT](INFO): ****** received valid address query ******
2025-06-05T05:59:04.520Z,1749103144.520 [DAT](INFO): ****** received valid ping request ******
2025-06-05T05:59:04.520Z,1749103144.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:04.740Z,1749103144.740 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-05T05:59:04.740Z,1749103144.740 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-05T05:59:04.743Z,1749103144.743 [lineCaptureHoming:LineCapture:E] Stopped
2025-06-05T05:59:04.744Z,1749103144.744 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-06-05T05:59:04.772Z,1749103144.772 [DAT](INFO): DAT read: user:577>
2025-06-05T05:59:04.773Z,1749103144.773 [DAT](INFO): DAT read: Tx time:05:59:03.9197
2025-06-05T05:59:04.773Z,1749103144.773 [DAT](INFO): Ping request sent.
2025-06-05T05:59:04.773Z,1749103144.773 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:59:04.774Z,1749103144.774 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:04.776Z,1749103144.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001865
2025-06-05T05:59:05.023Z,1749103145.023 [DAT](INFO): DAT read: TxSync time:05:59:03.9189
2025-06-05T05:59:05.025Z,1749103145.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250850
2025-06-05T05:59:05.266Z,1749103145.266 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-05T05:59:05.266Z,1749103145.266 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T05:59:05.266Z,1749103145.266 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-05T05:59:05.266Z,1749103145.266 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T05:59:05.268Z,1749103145.268 [lineCaptureHoming:LineCapture:F] Stopped
2025-06-05T05:59:05.269Z,1749103145.269 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-06-05T05:59:05.269Z,1749103145.269 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-05T05:59:05.269Z,1749103145.269 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-05T05:59:05.269Z,1749103145.269 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-05T05:59:05.269Z,1749103145.269 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-06-05T05:59:05.269Z,1749103145.269 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-05T05:59:05.269Z,1749103145.269 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-06-05T05:59:05.269Z,1749103145.269 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-05T05:59:05.269Z,1749103145.269 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-05T05:59:05.270Z,1749103145.270 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-05T05:59:05.270Z,1749103145.270 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-05T05:59:05.270Z,1749103145.270 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-05T05:59:05.270Z,1749103145.270 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-05T05:59:05.270Z,1749103145.270 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-05T05:59:05.271Z,1749103145.271 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-05T05:59:05.271Z,1749103145.271 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-05T05:59:05.271Z,1749103145.271 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-05T05:59:05.271Z,1749103145.271 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-05T05:59:05.271Z,1749103145.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-05T05:59:05.271Z,1749103145.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T05:59:05.272Z,1749103145.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-05T05:59:05.272Z,1749103145.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T05:59:05.272Z,1749103145.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-05T05:59:05.272Z,1749103145.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-05T05:59:05.272Z,1749103145.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-05T05:59:05.272Z,1749103145.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-05T05:59:05.272Z,1749103145.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-05T05:59:05.272Z,1749103145.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-05T05:59:05.273Z,1749103145.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-05T05:59:05.273Z,1749103145.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-05T05:59:05.273Z,1749103145.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-05T05:59:05.273Z,1749103145.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-05T05:59:05.273Z,1749103145.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-05T05:59:05.276Z,1749103145.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502969
2025-06-05T05:59:05.527Z,1749103145.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753932
2025-06-05T05:59:05.629Z,1749103145.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-05T05:59:05.630Z,1749103145.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T05:59:05.630Z,1749103145.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-05T05:59:05.630Z,1749103145.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T05:59:05.630Z,1749103145.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-05T05:59:05.630Z,1749103145.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-05T05:59:05.631Z,1749103145.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-05T05:59:05.631Z,1749103145.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-05T05:59:05.631Z,1749103145.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-05T05:59:05.631Z,1749103145.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-05T05:59:05.631Z,1749103145.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-05T05:59:05.631Z,1749103145.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-05T05:59:05.631Z,1749103145.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-05T05:59:05.631Z,1749103145.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-05T05:59:05.631Z,1749103145.631 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-05T05:59:05.631Z,1749103145.631 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-05T05:59:05.631Z,1749103145.631 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-05T05:59:05.632Z,1749103145.632 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-05T05:59:05.632Z,1749103145.632 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-05T05:59:05.632Z,1749103145.632 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-05T05:59:05.632Z,1749103145.632 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-05T05:59:05.632Z,1749103145.632 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-05T05:59:05.632Z,1749103145.632 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-05T05:59:05.632Z,1749103145.632 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-05T05:59:05.632Z,1749103145.632 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-05T05:59:05.633Z,1749103145.633 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.336430 m.
2025-06-05T05:59:05.779Z,1749103145.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005811
2025-06-05T05:59:06.031Z,1749103146.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257689
2025-06-05T05:59:06.095Z,1749103146.095 [DockingStepper](INFO): Changing to mode: 3
2025-06-05T05:59:06.096Z,1749103146.096 [DockingStepper](INFO): Detach mode.
2025-06-05T05:59:06.154Z,1749103146.154 [DockingStepper](INFO): Commanding negative:54402
2025-06-05T05:59:06.283Z,1749103146.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509743
2025-06-05T05:59:06.405Z,1749103146.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:06.535Z,1749103146.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761752
2025-06-05T05:59:06.787Z,1749103146.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013873
2025-06-05T05:59:07.039Z,1749103147.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265870
2025-06-05T05:59:07.292Z,1749103147.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518659
2025-06-05T05:59:07.544Z,1749103147.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770503
2025-06-05T05:59:07.560Z,1749103147.560 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 214.38, 186.82, 194.23
2025-06-05T05:59:07.795Z,1749103147.795 [DAT](INFO): DAT read: Rx Time:05:59:06.5572
2025-06-05T05:59:07.796Z,1749103147.796 [DAT](INFO): Rx dataTimestamp_ set to:1749103147.795353
2025-06-05T05:59:07.796Z,1749103147.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022848
2025-06-05T05:59:08.051Z,1749103148.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277844
2025-06-05T05:59:08.305Z,1749103148.305 [DAT](INFO): DAT read: $Error in header
2025-06-05T05:59:08.305Z,1749103148.305 [DAT](INFO): Received a bad header
2025-06-05T05:59:08.318Z,1749103148.318 [DAT](INFO): DAT read:
2025-06-05T05:59:08.319Z,1749103148.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.545737
2025-06-05T05:59:08.436Z,1749103148.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:08.555Z,1749103148.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782027
2025-06-05T05:59:08.810Z,1749103148.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036092
2025-06-05T05:59:09.060Z,1749103149.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286201
2025-06-05T05:59:09.312Z,1749103149.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539107
2025-06-05T05:59:09.563Z,1749103149.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789880
2025-06-05T05:59:09.815Z,1749103149.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042002
2025-06-05T05:59:10.068Z,1749103150.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294180
2025-06-05T05:59:10.319Z,1749103150.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545695
2025-06-05T05:59:10.438Z,1749103150.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:10.571Z,1749103150.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797791
2025-06-05T05:59:10.823Z,1749103150.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049783
2025-06-05T05:59:11.075Z,1749103151.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301744
2025-06-05T05:59:11.330Z,1749103151.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556093
2025-06-05T05:59:11.579Z,1749103151.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805984
2025-06-05T05:59:11.831Z,1749103151.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057950
2025-06-05T05:59:12.034Z,1749103152.034 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-05T05:59:12.088Z,1749103152.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314695
2025-06-05T05:59:12.344Z,1749103152.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570828
2025-06-05T05:59:12.460Z,1749103152.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:12.597Z,1749103152.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.823970
2025-06-05T05:59:12.847Z,1749103152.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.073918
2025-06-05T05:59:13.099Z,1749103153.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.325755
2025-06-05T05:59:13.354Z,1749103153.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579777
2025-06-05T05:59:13.603Z,1749103153.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.829883
2025-06-05T05:59:13.855Z,1749103153.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.081715
2025-06-05T05:59:14.108Z,1749103154.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334335
2025-06-05T05:59:14.362Z,1749103154.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.588193
2025-06-05T05:59:14.463Z,1749103154.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:14.611Z,1749103154.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837678
2025-06-05T05:59:14.864Z,1749103154.864 [DAT](INFO): Reached modem response timeout
2025-06-05T05:59:14.865Z,1749103154.865 [DAT](DEBUG): Acoustic response timeout
2025-06-05T05:59:14.865Z,1749103154.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:15.116Z,1749103155.116 [DAT](INFO): DAT read: user:578>
2025-06-05T05:59:15.118Z,1749103155.118 [DAT](INFO): Reached modem response timeout
2025-06-05T05:59:15.119Z,1749103155.119 [DAT](DEBUG): Acoustic response timeout
2025-06-05T05:59:15.120Z,1749103155.120 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:15.369Z,1749103155.369 [DAT](INFO): Reached modem response timeout
2025-06-05T05:59:15.369Z,1749103155.369 [DAT](DEBUG): Acoustic response timeout
2025-06-05T05:59:15.370Z,1749103155.370 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:15.619Z,1749103155.619 [DAT](INFO): DAT read: Response Not Received
2025-06-05T05:59:15.620Z,1749103155.620 [DAT](INFO): response not received
2025-06-05T05:59:15.620Z,1749103155.620 [DAT](INFO): DAT read: user:579>
2025-06-05T05:59:15.621Z,1749103155.621 [DAT](INFO): DAT read: Tx time:05:59:14.8698
2025-06-05T05:59:15.621Z,1749103155.621 [DAT](INFO): Ping request sent.
2025-06-05T05:59:15.621Z,1749103155.621 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:59:15.621Z,1749103155.621 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:15.622Z,1749103155.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000796
2025-06-05T05:59:15.871Z,1749103155.871 [DAT](INFO): DAT read: TxSync time:05:59:14.8690
2025-06-05T05:59:15.872Z,1749103155.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250955
2025-06-05T05:59:16.124Z,1749103156.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502914
2025-06-05T05:59:16.379Z,1749103156.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757132
2025-06-05T05:59:16.505Z,1749103156.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:16.627Z,1749103156.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006441
2025-06-05T05:59:16.636Z,1749103156.636 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T05:59:16.896Z,1749103156.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.274834
2025-06-05T05:59:17.147Z,1749103157.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526231
2025-06-05T05:59:17.402Z,1749103157.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.780066
2025-06-05T05:59:17.640Z,1749103157.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T05:59:17.651Z,1749103157.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.029906
2025-06-05T05:59:17.903Z,1749103157.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282257
2025-06-05T05:59:18.156Z,1749103158.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534528
2025-06-05T05:59:18.427Z,1749103158.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.805608
2025-06-05T05:59:18.564Z,1749103158.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:18.677Z,1749103158.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.055982
2025-06-05T05:59:18.928Z,1749103158.928 [DAT](INFO): DAT read: Rx Time:05:59:17.5120
2025-06-05T05:59:18.929Z,1749103158.929 [DAT](INFO): Rx dataTimestamp_ set to:1749103158.928477
2025-06-05T05:59:18.929Z,1749103158.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.308269
2025-06-05T05:59:19.179Z,1749103159.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.558021
2025-06-05T05:59:19.480Z,1749103159.480 [DAT](INFO): DAT read: 05:59:17.5120 LVL= 19008, 20721, 16466, 32755, AGC= 64, IDX= 465, 0.20,-1.052, 0.482,-1.294,-1.632, PHS= 0.668, 2.160, 0.334, RAW= 339.9, -33.6, CAL= 345.5, -47.0, ROT= 164.5, 47.0
2025-06-05T05:59:19.481Z,1749103159.481 [DAT](INFO): got valid direction response:
05:59:17.5120 LVL= 19008, 20721, 16466, 32755, AGC= 64, IDX= 465, 0.20,-1.052, 0.482,-1.294,-1.632, PHS= 0.668, 2.160, 0.334, RAW= 339.9, -33.6, CAL= 345.5, -47.0, ROT= 164.5, 47.0
2025-06-05T05:59:19.482Z,1749103159.482 [DAT](INFO): DAT read: Range 10 to 50 : 178.5 m (Round-trip 238.0 ms) speed -0.4 m/s
2025-06-05T05:59:19.483Z,1749103159.483 [DAT](INFO): DAT read: user:580>
2025-06-05T05:59:19.485Z,1749103159.485 [DAT](INFO): DAT read: Tx time:05:59:18.6198
2025-06-05T05:59:19.485Z,1749103159.485 [DAT](INFO): Ping request sent.
2025-06-05T05:59:19.485Z,1749103159.485 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:59:19.486Z,1749103159.486 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T05:59:19.492Z,1749103159.492 [DAT](INFO): direction in FSK: [-0.657194,0.182256,-0.731354]
2025-06-05T05:59:19.492Z,1749103159.492 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:19.493Z,1749103159.493 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:19.497Z,1749103159.497 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:19.498Z,1749103159.498 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:19.683Z,1749103159.683 [DAT](INFO): DAT read: TxSync time:05:59:18.6190
2025-06-05T05:59:20.604Z,1749103160.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:20.692Z,1749103160.692 [DAT](INFO): ****** received valid address query ******
2025-06-05T05:59:20.693Z,1749103160.693 [DAT](INFO): ****** received valid ping request ******
2025-06-05T05:59:20.693Z,1749103160.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:20.944Z,1749103160.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458833
2025-06-05T05:59:21.199Z,1749103161.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713353
2025-06-05T05:59:21.450Z,1749103161.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964015
2025-06-05T05:59:21.699Z,1749103161.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213795
2025-06-05T05:59:21.951Z,1749103161.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465763
2025-06-05T05:59:22.204Z,1749103162.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718105
2025-06-05T05:59:22.458Z,1749103162.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971697
2025-06-05T05:59:22.708Z,1749103162.708 [DAT](INFO): DAT read: Rx Time:05:59:21.2635
2025-06-05T05:59:22.709Z,1749103162.709 [DAT](INFO): Rx dataTimestamp_ set to:1749103162.708513
2025-06-05T05:59:22.710Z,1749103162.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224606
2025-06-05T05:59:22.903Z,1749103162.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:22.961Z,1749103162.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475458
2025-06-05T05:59:23.217Z,1749103163.217 [DAT](INFO): DAT read: 05:59:21.2635 LVL= 22256, 22513, 21362, 32755, AGC= 63, IDX= 151, 0.09,-2.252,-0.901,-3.129,-2.056, PHS=-0.108, 1.202,-1.076, RAW= 355.0, -0.2, CAL= 355.6, -1.1, ROT= 154.4, 1.1
2025-06-05T05:59:23.218Z,1749103163.218 [DAT](INFO): got valid direction response:
05:59:21.2635 LVL= 22256, 22513, 21362, 32755, AGC= 63, IDX= 151, 0.09,-2.252,-0.901,-3.129,-2.056, PHS=-0.108, 1.202,-1.076, RAW= 355.0, -0.2, CAL= 355.6, -1.1, ROT= 154.4, 1.1
2025-06-05T05:59:23.219Z,1749103163.219 [DAT](INFO): DAT read: Bearing 154.4, 1.1 (Local)
2025-06-05T05:59:23.219Z,1749103163.219 [DAT](INFO): Local bearing/azimuth received:
Bearing 154.4, 1.1 (Local)
2025-06-05T05:59:23.221Z,1749103163.221 [DAT](INFO): DAT read: Range 10 to 50 : 179.7 m (Round-trip 239.6 ms) speed -0.1 m/s
2025-06-05T05:59:23.221Z,1749103163.221 [DAT](INFO): DAT read: user:581>
2025-06-05T05:59:23.223Z,1749103163.223 [DAT](INFO): DAT read: Tx time:05:59:22.3698
2025-06-05T05:59:23.223Z,1749103163.223 [DAT](INFO): Ping request sent.
2025-06-05T05:59:23.223Z,1749103163.223 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:59:23.224Z,1749103163.224 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T05:59:23.225Z,1749103163.225 [DAT](INFO): direction in FSK: [-0.901666,0.432006,-0.019197]
2025-06-05T05:59:23.225Z,1749103163.225 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:23.225Z,1749103163.225 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:23.229Z,1749103163.229 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:23.229Z,1749103163.229 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:23.467Z,1749103163.467 [DAT](INFO): DAT read: TxSync time:05:59:22.3690
2025-06-05T05:59:24.923Z,1749103164.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:24.977Z,1749103164.977 [DAT](INFO): ****** received valid address query ******
2025-06-05T05:59:24.977Z,1749103164.977 [DAT](INFO): ****** received valid ping request ******
2025-06-05T05:59:24.978Z,1749103164.978 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:25.228Z,1749103165.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004119
2025-06-05T05:59:25.479Z,1749103165.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255741
2025-06-05T05:59:25.731Z,1749103165.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507662
2025-06-05T05:59:25.983Z,1749103165.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759508
2025-06-05T05:59:26.235Z,1749103166.235 [DAT](INFO): DAT read: Rx Time:05:59:24.9867
2025-06-05T05:59:26.236Z,1749103166.236 [DAT](INFO): Rx dataTimestamp_ set to:1749103166.235391
2025-06-05T05:59:26.236Z,1749103166.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012730
2025-06-05T05:59:26.490Z,1749103166.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266112
2025-06-05T05:59:26.742Z,1749103166.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517563
2025-06-05T05:59:26.978Z,1749103166.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:27.013Z,1749103167.013 [DAT](INFO): DAT read: 05:59:24.9867 LVL= 16720, 12401, 15538, 20403, AGC= 65, IDX= 141, 0.50, 1.322, 2.527, 0.810, 0.601, PHS= 0.809, 1.972, 0.206, RAW= 349.6, -34.2, CAL= 357.8, -47.2, ROT= 152.2, 47.2
2025-06-05T05:59:27.027Z,1749103167.027 [DAT](INFO): got valid direction response:
05:59:24.9867 LVL= 16720, 12401, 15538, 20403, AGC= 65, IDX= 141, 0.50, 1.322, 2.527, 0.810, 0.601, PHS= 0.809, 1.972, 0.206, RAW= 349.6, -34.2, CAL= 357.8, -47.2, ROT= 152.2, 47.2
2025-06-05T05:59:27.028Z,1749103167.028 [DAT](INFO): DAT read: Bearing 152.2, 47.2 (Local)
2025-06-05T05:59:27.028Z,1749103167.028 [DAT](INFO): Local bearing/azimuth received:
Bearing 152.2, 47.2 (Local)
2025-06-05T05:59:27.030Z,1749103167.030 [DAT](INFO): DAT read: Range 10 to 50 : 159.4 m (Round-trip 212.6 ms) speed -0.1 m/s
2025-06-05T05:59:27.035Z,1749103167.035 [DAT](INFO): DAT read: user:582>
2025-06-05T05:59:27.035Z,1749103167.035 [DAT](INFO): DAT read: Tx time:05:59:26.0699
2025-06-05T05:59:27.036Z,1749103167.036 [DAT](INFO): Ping request sent.
2025-06-05T05:59:27.036Z,1749103167.036 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:59:27.036Z,1749103167.036 [DAT](INFO): DAT read: TxSync time:05:59:26.0691
2025-06-05T05:59:27.037Z,1749103167.037 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T05:59:27.043Z,1749103167.043 [DAT](INFO): direction in FSK: [-0.601021,0.316882,-0.733730]
2025-06-05T05:59:27.043Z,1749103167.043 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:27.044Z,1749103167.044 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:27.052Z,1749103167.052 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:27.053Z,1749103167.053 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:28.982Z,1749103168.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:29.007Z,1749103169.007 [DAT](INFO): ****** received valid address query ******
2025-06-05T05:59:29.007Z,1749103169.007 [DAT](INFO): ****** received valid ping request ******
2025-06-05T05:59:29.008Z,1749103169.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:29.260Z,1749103169.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224382
2025-06-05T05:59:29.513Z,1749103169.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476275
2025-06-05T05:59:29.763Z,1749103169.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727218
2025-06-05T05:59:30.015Z,1749103170.015 [DAT](INFO): DAT read: Rx Time:05:59:28.6875
2025-06-05T05:59:30.016Z,1749103170.016 [DAT](INFO): Rx dataTimestamp_ set to:1749103170.015335
2025-06-05T05:59:30.016Z,1749103170.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980249
2025-06-05T05:59:30.268Z,1749103170.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232066
2025-06-05T05:59:30.533Z,1749103170.533 [DAT](INFO): DAT read: 05:59:28.6875 LVL= 20464, 18481, 24290, 32211, AGC= 64, IDX= 157, 0.22, 1.672, 3.063, 0.548, 1.639, PHS= 0.121, 1.471,-1.094, RAW= 358.2, -4.5, CAL= 358.6, -7.0, ROT= 151.4, 7.0
2025-06-05T05:59:30.534Z,1749103170.534 [DAT](INFO): got valid direction response:
05:59:28.6875 LVL= 20464, 18481, 24290, 32211, AGC= 64, IDX= 157, 0.22, 1.672, 3.063, 0.548, 1.639, PHS= 0.121, 1.471,-1.094, RAW= 358.2, -4.5, CAL= 358.6, -7.0, ROT= 151.4, 7.0
2025-06-05T05:59:30.535Z,1749103170.535 [DAT](INFO): DAT read: Bearing 151.4, 7.0 (Local)
2025-06-05T05:59:30.535Z,1749103170.535 [DAT](INFO): Local bearing/azimuth received:
Bearing 151.4, 7.0 (Local)
2025-06-05T05:59:30.537Z,1749103170.537 [DAT](INFO): DAT read: Range 10 to 50 : 160.1 m (Round-trip 213.5 ms) speed -0.4 m/s
2025-06-05T05:59:30.537Z,1749103170.537 [DAT](INFO): DAT read: user:583>
2025-06-05T05:59:30.539Z,1749103170.539 [DAT](INFO): DAT read: Tx time:05:59:29.7699
2025-06-05T05:59:30.539Z,1749103170.539 [DAT](INFO): Ping request sent.
2025-06-05T05:59:30.539Z,1749103170.539 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:59:30.539Z,1749103170.539 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T05:59:30.541Z,1749103170.541 [DAT](INFO): direction in FSK: [-0.871439,0.475124,-0.121869]
2025-06-05T05:59:30.542Z,1749103170.542 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:30.543Z,1749103170.543 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:30.579Z,1749103170.579 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:30.579Z,1749103170.579 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:30.771Z,1749103170.771 [DAT](INFO): DAT read: TxSync time:05:59:29.7691
2025-06-05T05:59:31.007Z,1749103171.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:31.027Z,1749103171.027 [DAT](INFO): ****** received valid address query ******
2025-06-05T05:59:31.027Z,1749103171.027 [DAT](INFO): ****** received valid ping request ******
2025-06-05T05:59:31.028Z,1749103171.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:31.279Z,1749103171.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739892
2025-06-05T05:59:31.533Z,1749103171.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993341
2025-06-05T05:59:31.785Z,1749103171.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245052
2025-06-05T05:59:32.035Z,1749103172.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495838
2025-06-05T05:59:32.221Z,1749103172.221 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 160.10 m. Transitioning docking module to standby.
2025-06-05T05:59:32.287Z,1749103172.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747921
2025-06-05T05:59:32.541Z,1749103172.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001083
2025-06-05T05:59:32.793Z,1749103172.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254135
2025-06-05T05:59:32.823Z,1749103172.823 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T05:59:32.823Z,1749103172.823 [DockingStepper](INFO): Standby mode.
2025-06-05T05:59:32.890Z,1749103172.890 [DockingStepper](INFO): Commanding positive:54488
2025-06-05T05:59:33.043Z,1749103173.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504214
2025-06-05T05:59:33.063Z,1749103173.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:33.295Z,1749103173.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755903
2025-06-05T05:59:33.549Z,1749103173.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009339
2025-06-05T05:59:33.799Z,1749103173.799 [DAT](INFO): DAT read: Rx Time:05:59:32.4159
2025-06-05T05:59:33.800Z,1749103173.800 [DAT](INFO): Rx dataTimestamp_ set to:1749103173.799270
2025-06-05T05:59:33.800Z,1749103173.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260888
2025-06-05T05:59:33.840Z,1749103173.840 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 222.44, 183.66, 185.70
2025-06-05T05:59:34.051Z,1749103174.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512138
2025-06-05T05:59:34.312Z,1749103174.312 [DAT](INFO): DAT read: 05:59:32.4159 LVL= 15392, 15889, 15794, 20371, AGC= 61, IDX= 201,-0.19,-2.860,-1.516, 2.958, 2.789, PHS= 0.722, 2.025, 0.166, RAW= 346.9, -31.9, CAL= 354.2, -45.0, ROT= 155.8, 45.0
2025-06-05T05:59:34.313Z,1749103174.313 [DAT](INFO): got valid direction response:
05:59:32.4159 LVL= 15392, 15889, 15794, 20371, AGC= 61, IDX= 201,-0.19,-2.860,-1.516, 2.958, 2.789, PHS= 0.722, 2.025, 0.166, RAW= 346.9, -31.9, CAL= 354.2, -45.0, ROT= 155.8, 45.0
2025-06-05T05:59:34.314Z,1749103174.314 [DAT](INFO): DAT read: Bearing 155.8, 45.0 (Local)
2025-06-05T05:59:34.314Z,1749103174.314 [DAT](INFO): Local bearing/azimuth received:
Bearing 155.8, 45.0 (Local)
2025-06-05T05:59:34.316Z,1749103174.316 [DAT](INFO): DAT read: Range 10 to 50 : 181.3 m (Round-trip 241.8 ms) speed 0.0 m/s
2025-06-05T05:59:34.317Z,1749103174.317 [DAT](INFO): DAT read: user:584>
2025-06-05T05:59:34.328Z,1749103174.328 [DAT](INFO): DAT read: Tx time:05:59:33.5199
2025-06-05T05:59:34.329Z,1749103174.329 [DAT](INFO): Ping request sent.
2025-06-05T05:59:34.329Z,1749103174.329 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:59:34.330Z,1749103174.330 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T05:59:34.339Z,1749103174.339 [DAT](INFO): direction in FSK: [-0.644966,0.289859,-0.707107]
2025-06-05T05:59:34.340Z,1749103174.340 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:34.340Z,1749103174.340 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:34.349Z,1749103174.349 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:34.349Z,1749103174.349 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:34.557Z,1749103174.557 [DAT](INFO): DAT read: TxSync time:05:59:33.5191
2025-06-05T05:59:35.065Z,1749103175.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:35.311Z,1749103175.311 [DAT](INFO): ****** received valid address query ******
2025-06-05T05:59:35.311Z,1749103175.311 [DAT](INFO): ****** received valid ping request ******
2025-06-05T05:59:35.311Z,1749103175.311 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:35.563Z,1749103175.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234200
2025-06-05T05:59:35.815Z,1749103175.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486419
2025-06-05T05:59:36.067Z,1749103176.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738507
2025-06-05T05:59:36.319Z,1749103176.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990287
2025-06-05T05:59:36.571Z,1749103176.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242138
2025-06-05T05:59:36.824Z,1749103176.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494971
2025-06-05T05:59:37.077Z,1749103177.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747786
2025-06-05T05:59:37.105Z,1749103177.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:37.327Z,1749103177.327 [DAT](INFO): DAT read: Rx Time:05:59:36.1117
2025-06-05T05:59:37.328Z,1749103177.328 [DAT](INFO): Rx dataTimestamp_ set to:1749103177.327502
2025-06-05T05:59:37.328Z,1749103177.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999434
2025-06-05T05:59:37.579Z,1749103177.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250325
2025-06-05T05:59:37.834Z,1749103177.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504366
2025-06-05T05:59:38.093Z,1749103178.093 [DAT](INFO): DAT read: 05:59:36.1117 LVL= 19328, 18545, 19858, 27123, AGC= 60, IDX= 383,-0.23,-1.100, 0.166,-2.230,-0.994, PHS=-0.018, 1.207,-1.239, RAW= 359.9, 0.5, CAL= 0.2, -0.5, ROT= 149.8, 0.5
2025-06-05T05:59:38.095Z,1749103178.095 [DAT](INFO): got valid direction response:
05:59:36.1117 LVL= 19328, 18545, 19858, 27123, AGC= 60, IDX= 383,-0.23,-1.100, 0.166,-2.230,-0.994, PHS=-0.018, 1.207,-1.239, RAW= 359.9, 0.5, CAL= 0.2, -0.5, ROT= 149.8, 0.5
2025-06-05T05:59:38.096Z,1749103178.096 [DAT](INFO): DAT read: Bearing 149.8, 0.5 (Local)
2025-06-05T05:59:38.096Z,1749103178.096 [DAT](INFO): Local bearing/azimuth received:
Bearing 149.8, 0.5 (Local)
2025-06-05T05:59:38.098Z,1749103178.098 [DAT](INFO): DAT read: Range 10 to 50 : 140.7 m (Round-trip 187.6 ms) speed 0.4 m/s
2025-06-05T05:59:38.098Z,1749103178.098 [DAT](INFO): DAT read: user:585>
2025-06-05T05:59:38.099Z,1749103178.099 [DAT](INFO): DAT read: Tx time:05:59:37.2199
2025-06-05T05:59:38.100Z,1749103178.100 [DAT](INFO): Ping request sent.
2025-06-05T05:59:38.100Z,1749103178.100 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:59:38.100Z,1749103178.100 [DAT](INFO): DAT read: TxSync time:05:59:37.2191
2025-06-05T05:59:38.101Z,1749103178.101 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T05:59:38.102Z,1749103178.102 [DAT](INFO): direction in FSK: [-0.864242,0.503001,-0.008727]
2025-06-05T05:59:38.103Z,1749103178.103 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:38.104Z,1749103178.104 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:38.107Z,1749103178.107 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:38.108Z,1749103178.108 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:39.100Z,1749103179.100 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-06-05T05:59:39.471Z,1749103179.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:39.473Z,1749103179.473 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-06-05T05:59:39.473Z,1749103179.473 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-06-05T05:59:39.473Z,1749103179.473 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-06-05T05:59:39.597Z,1749103179.597 [DAT](INFO): ****** received valid address query ******
2025-06-05T05:59:39.597Z,1749103179.597 [DAT](INFO): ****** received valid ping request ******
2025-06-05T05:59:39.598Z,1749103179.598 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:39.847Z,1749103179.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747393
2025-06-05T05:59:39.937Z,1749103179.937 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-06-05T05:59:39.937Z,1749103179.937 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-06-05T05:59:39.937Z,1749103179.937 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-06-05T05:59:40.099Z,1749103180.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999647
2025-06-05T05:59:40.296Z,1749103180.296 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-06-05T05:59:40.296Z,1749103180.296 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-05T05:59:40.296Z,1749103180.296 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-06-05T05:59:40.296Z,1749103180.296 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-05T05:59:40.296Z,1749103180.296 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-05T05:59:40.353Z,1749103180.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253342
2025-06-05T05:59:40.603Z,1749103180.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503442
2025-06-05T05:59:40.784Z,1749103180.784 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-05T05:59:40.784Z,1749103180.784 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-05T05:59:40.784Z,1749103180.784 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-05T05:59:40.785Z,1749103180.785 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-05T05:59:40.785Z,1749103180.785 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-05T05:59:40.785Z,1749103180.785 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-05T05:59:40.786Z,1749103180.786 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-05T05:59:40.786Z,1749103180.786 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-05T05:59:40.791Z,1749103180.791 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-05T05:59:40.791Z,1749103180.791 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-05T05:59:40.792Z,1749103180.792 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-05T05:59:40.793Z,1749103180.793 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-05T05:59:40.799Z,1749103180.799 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-06-05T05:59:40.799Z,1749103180.799 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-05T05:59:40.800Z,1749103180.800 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-06-05T05:59:40.801Z,1749103180.801 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 140.699997 m
2025-06-05T05:59:40.801Z,1749103180.801 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-06-05T05:59:40.801Z,1749103180.801 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-06-05T05:59:40.806Z,1749103180.806 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.905698 arcdeg , -122.116120 arcdeg )
2025-06-05T05:59:40.807Z,1749103180.807 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-05T05:59:40.807Z,1749103180.807 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-06-05T05:59:40.807Z,1749103180.807 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-05T05:59:40.809Z,1749103180.809 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.905698,-122.116120
2025-06-05T05:59:40.856Z,1749103180.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756322
2025-06-05T05:59:41.108Z,1749103181.108 [DAT](INFO): DAT read: Rx Time:05:59:39.8665
2025-06-05T05:59:41.109Z,1749103181.109 [DAT](INFO): Rx dataTimestamp_ set to:1749103181.108411
2025-06-05T05:59:41.110Z,1749103181.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010245
2025-06-05T05:59:41.129Z,1749103181.129 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.905698,-122.116120
2025-06-05T05:59:41.151Z,1749103181.151 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-06-05T05:59:41.151Z,1749103181.151 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-05T05:59:41.151Z,1749103181.151 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-06-05T05:59:41.151Z,1749103181.151 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-05T05:59:41.182Z,1749103181.182 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-06-05T05:59:41.182Z,1749103181.182 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-06-05T05:59:41.360Z,1749103181.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260322
2025-06-05T05:59:41.514Z,1749103181.514 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-05T05:59:41.514Z,1749103181.514 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-05T05:59:41.514Z,1749103181.514 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-05T05:59:41.516Z,1749103181.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:41.518Z,1749103181.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-05T05:59:41.518Z,1749103181.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T05:59:41.522Z,1749103181.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-05T05:59:41.522Z,1749103181.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T05:59:41.522Z,1749103181.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-05T05:59:41.522Z,1749103181.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-05T05:59:41.523Z,1749103181.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-05T05:59:41.523Z,1749103181.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-05T05:59:41.523Z,1749103181.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-05T05:59:41.523Z,1749103181.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-05T05:59:41.523Z,1749103181.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-05T05:59:41.523Z,1749103181.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-05T05:59:41.523Z,1749103181.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-05T05:59:41.523Z,1749103181.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-05T05:59:41.523Z,1749103181.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-05T05:59:41.523Z,1749103181.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-05T05:59:41.524Z,1749103181.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-05T05:59:41.524Z,1749103181.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-05T05:59:41.525Z,1749103181.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-05T05:59:41.525Z,1749103181.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-05T05:59:41.525Z,1749103181.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-05T05:59:41.525Z,1749103181.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-05T05:59:41.525Z,1749103181.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-05T05:59:41.526Z,1749103181.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-06-05T05:59:41.526Z,1749103181.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-05T05:59:41.526Z,1749103181.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-06-05T05:59:41.530Z,1749103181.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-06-05T05:59:41.530Z,1749103181.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-06-05T05:59:41.530Z,1749103181.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-05T05:59:41.531Z,1749103181.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-06-05T05:59:41.532Z,1749103181.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00.
2025-06-05T05:59:41.532Z,1749103181.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-05T05:59:41.532Z,1749103181.532 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-05T05:59:41.532Z,1749103181.532 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-05T05:59:41.532Z,1749103181.532 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-05T05:59:41.532Z,1749103181.532 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-05T05:59:41.532Z,1749103181.532 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-05T05:59:41.533Z,1749103181.533 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-05T05:59:41.533Z,1749103181.533 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-05T05:59:41.533Z,1749103181.533 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-06-05T05:59:41.533Z,1749103181.533 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-05T05:59:41.615Z,1749103181.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514790
2025-06-05T05:59:41.869Z,1749103181.869 [DAT](INFO): DAT read: 05:59:39.8665 LVL= 15792, 21601, 16994, 28019, AGC= 63, IDX= 493, 0.01, 2.820,-2.198, 2.211, 2.100, PHS= 0.808, 2.032, 0.108, RAW= 351.1, -31.7, CAL= 359.1, -44.6, ROT= 150.9, 44.6
2025-06-05T05:59:41.871Z,1749103181.871 [DAT](INFO): got valid direction response:
05:59:39.8665 LVL= 15792, 21601, 16994, 28019, AGC= 63, IDX= 493, 0.01, 2.820,-2.198, 2.211, 2.100, PHS= 0.808, 2.032, 0.108, RAW= 351.1, -31.7, CAL= 359.1, -44.6, ROT= 150.9, 44.6
2025-06-05T05:59:41.872Z,1749103181.872 [DAT](INFO): DAT read: Bearing 150.9, 44.6 (Local)
2025-06-05T05:59:41.872Z,1749103181.872 [DAT](INFO): Local bearing/azimuth received:
Bearing 150.9, 44.6 (Local)
2025-06-05T05:59:41.873Z,1749103181.873 [DAT](INFO): DAT read: Range 10 to 50 : 181.7 m (Round-trip 242.3 ms) speed -0.4 m/s
2025-06-05T05:59:41.876Z,1749103181.876 [DAT](INFO): DAT read: user:586>
2025-06-05T05:59:41.877Z,1749103181.877 [DAT](INFO): DAT read: Tx time:05:59:40.9700
2025-06-05T05:59:41.877Z,1749103181.877 [DAT](INFO): Ping request sent.
2025-06-05T05:59:41.877Z,1749103181.877 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:59:41.878Z,1749103181.878 [DAT](INFO): DAT read: TxSync time:05:59:40.9692
2025-06-05T05:59:41.879Z,1749103181.879 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T05:59:41.880Z,1749103181.880 [DAT](INFO): direction in FSK: [-0.622149,0.346283,-0.702153]
2025-06-05T05:59:41.880Z,1749103181.880 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:41.881Z,1749103181.881 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:41.884Z,1749103181.884 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:41.885Z,1749103181.885 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:42.194Z,1749103182.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 181.699997 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-06-05T05:59:42.197Z,1749103182.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 180.408813 m,
bearing: 278.438938 deg,
lat: 36.906097 deg,
lon: -122.116132 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-06-05T05:59:42.197Z,1749103182.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.41 m.
2025-06-05T05:59:42.204Z,1749103182.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 180.408813 m,
nav range: 147.567764 m,
bearing: 278.984345 deg,
approach rate: nan m/s,
LOS rate: nan deg/s,
cmd heading: 133.276976 deg,
new cmd heading: 278.984345 deg.
2025-06-05T05:59:42.205Z,1749103182.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869195 target range: 180.408813 and range: 181.70 m.
2025-06-05T05:59:42.234Z,1749103182.234 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-06-05T05:59:42.235Z,1749103182.235 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-06-05T05:59:42.470Z,1749103182.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.41 m.
2025-06-05T05:59:42.478Z,1749103182.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 180.408813 m,
nav range: 147.597794 m,
bearing: 279.000777 deg,
approach rate: 0.108419 m/s,
LOS rate: nan deg/s,
cmd heading: 278.984350 deg,
new cmd heading: 279.000777 deg.
2025-06-05T05:59:42.479Z,1749103182.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869482 target range: 180.408813 and range: 181.70 m.
2025-06-05T05:59:42.919Z,1749103182.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.41 m.
2025-06-05T05:59:42.922Z,1749103182.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 180.408813 m,
nav range: 147.643204 m,
bearing: 279.026294 deg,
approach rate: 0.101347 m/s,
LOS rate: nan deg/s,
cmd heading: 279.000769 deg,
new cmd heading: 279.026294 deg.
2025-06-05T05:59:42.923Z,1749103182.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869927 target range: 180.408813 and range: 181.70 m.
2025-06-05T05:59:43.297Z,1749103183.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.41 m.
2025-06-05T05:59:43.300Z,1749103183.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 180.408813 m,
nav range: 147.681244 m,
bearing: 279.047819 deg,
approach rate: 0.099372 m/s,
LOS rate: nan deg/s,
cmd heading: 279.026287 deg,
new cmd heading: 279.047819 deg.
2025-06-05T05:59:43.301Z,1749103183.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870303 target range: 180.408813 and range: 181.70 m.
2025-06-05T05:59:43.690Z,1749103183.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:43.692Z,1749103183.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.41 m.
2025-06-05T05:59:43.699Z,1749103183.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 180.408813 m,
nav range: 147.719238 m,
bearing: 279.069359 deg,
approach rate: 0.096159 m/s,
LOS rate: nan deg/s,
cmd heading: 279.047816 deg,
new cmd heading: 279.069359 deg.
2025-06-05T05:59:43.700Z,1749103183.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870679 target range: 180.408813 and range: 181.70 m.
2025-06-05T05:59:43.880Z,1749103183.880 [DAT](INFO): ****** received valid address query ******
2025-06-05T05:59:43.880Z,1749103183.880 [DAT](INFO): ****** received valid ping request ******
2025-06-05T05:59:43.880Z,1749103183.880 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:44.088Z,1749103184.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.41 m.
2025-06-05T05:59:44.093Z,1749103184.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 180.408813 m,
nav range: 147.755875 m,
bearing: 279.089135 deg,
approach rate: 0.092525 m/s,
LOS rate: nan deg/s,
cmd heading: 279.069372 deg,
new cmd heading: 279.089135 deg.
2025-06-05T05:59:44.094Z,1749103184.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871024 target range: 180.408813 and range: 181.70 m.
2025-06-05T05:59:44.131Z,1749103184.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254226
2025-06-05T05:59:44.383Z,1749103184.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505861
2025-06-05T05:59:44.479Z,1749103184.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.41 m.
2025-06-05T05:59:44.481Z,1749103184.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 180.408813 m,
nav range: 147.790588 m,
bearing: 279.107808 deg,
approach rate: 0.088975 m/s,
LOS rate: nan deg/s,
cmd heading: 279.089125 deg,
new cmd heading: 279.107808 deg.
2025-06-05T05:59:44.483Z,1749103184.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871350 target range: 180.408813 and range: 181.70 m.
2025-06-05T05:59:44.635Z,1749103184.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757936
2025-06-05T05:59:44.893Z,1749103184.893 [DAT](INFO): DAT read: Rx Time:05:59:43.6180
2025-06-05T05:59:44.893Z,1749103184.893 [DAT](INFO): Rx dataTimestamp_ set to:1749103184.893135
2025-06-05T05:59:44.894Z,1749103184.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016797
2025-06-05T05:59:44.982Z,1749103184.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.41 m.
2025-06-05T05:59:44.984Z,1749103184.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 180.408813 m,
nav range: 147.835922 m,
bearing: 279.127077 deg,
approach rate: 0.090041 m/s,
LOS rate: nan deg/s,
cmd heading: 279.107812 deg,
new cmd heading: 279.127077 deg.
2025-06-05T05:59:44.985Z,1749103184.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871686 target range: 180.408813 and range: 181.70 m.
2025-06-05T05:59:45.144Z,1749103185.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266841
2025-06-05T05:59:45.290Z,1749103185.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.41 m.
2025-06-05T05:59:45.316Z,1749103185.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 180.408813 m,
nav range: 147.863022 m,
bearing: 279.138544 deg,
approach rate: 0.088273 m/s,
LOS rate: nan deg/s,
cmd heading: 279.127073 deg,
new cmd heading: 279.138544 deg.
2025-06-05T05:59:45.316Z,1749103185.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871887 target range: 180.408813 and range: 181.70 m.
2025-06-05T05:59:45.406Z,1749103185.406 [DAT](INFO): DAT read: 05:59:43.6180 LVL= 13248, 16561, 16242, 30547, AGC= 61, IDX= 445, 0.06,-2.791,-1.436, 2.926, 2.777, PHS= 0.804, 2.117, 0.146, RAW= 349.1, -32.0, CAL= 356.8, -44.9, ROT= 153.2, 44.9
2025-06-05T05:59:45.407Z,1749103185.407 [DAT](INFO): got valid direction response:
05:59:43.6180 LVL= 13248, 16561, 16242, 30547, AGC= 61, IDX= 445, 0.06,-2.791,-1.436, 2.926, 2.777, PHS= 0.804, 2.117, 0.146, RAW= 349.1, -32.0, CAL= 356.8, -44.9, ROT= 153.2, 44.9
2025-06-05T05:59:45.410Z,1749103185.410 [DAT](INFO): DAT read: Bearing 153.2, 44.9 (Local)
2025-06-05T05:59:45.427Z,1749103185.427 [DAT](INFO): Local bearing/azimuth received:
Bearing 153.2, 44.9 (Local)
2025-06-05T05:59:45.428Z,1749103185.428 [DAT](INFO): DAT read: Range 10 to 50 : 182.9 m (Round-trip 243.9 ms) speed 0.3 m/s
2025-06-05T05:59:45.429Z,1749103185.429 [DAT](INFO): DAT read: user:587>
2025-06-05T05:59:45.439Z,1749103185.439 [DAT](INFO): DAT read: Tx time:05:59:44.7200
2025-06-05T05:59:45.440Z,1749103185.440 [DAT](INFO): Ping request sent.
2025-06-05T05:59:45.440Z,1749103185.440 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:59:45.441Z,1749103185.441 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T05:59:45.455Z,1749103185.455 [DAT](INFO): direction in FSK: [-0.632254,0.319375,-0.705872]
2025-06-05T05:59:45.456Z,1749103185.456 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:45.456Z,1749103185.456 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:45.512Z,1749103185.512 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:45.513Z,1749103185.513 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:45.649Z,1749103185.649 [DAT](INFO): DAT read: TxSync time:05:59:44.7192
2025-06-05T05:59:45.753Z,1749103185.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 182.899994 m,
deltaT: 3.533379 s,
deltaX: 1.199997 m,
approachRate: 0.339617 m/s,
rangeRepo size: 2
2025-06-05T05:59:45.768Z,1749103185.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 181.584366 m,
bearing: 281.951676 deg,
lat: 36.906107 deg,
lon: -122.116132 deg,
deltaT: 3.533379 s,
deltaX: 1.175552 m,
approachRate: 0.332699 m/s,
posRepo size: 2
2025-06-05T05:59:45.775Z,1749103185.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.58 m.
2025-06-05T05:59:45.780Z,1749103185.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 281.951676 deg.
2025-06-05T05:59:45.781Z,1749103185.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.920985 target range: 181.584366 and range: 182.90 m.
2025-06-05T05:59:46.204Z,1749103186.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:46.207Z,1749103186.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.58 m.
2025-06-05T05:59:46.211Z,1749103186.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 181.584366 m,
nav range: 148.149994 m,
bearing: 279.620791 deg,
approach rate: 0.118593 m/s,
LOS rate: 0.032701 deg/s,
cmd heading: 281.951684 deg,
new cmd heading: 281.996873 deg.
2025-06-05T05:59:46.212Z,1749103186.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.921774 target range: 181.584366 and range: 182.90 m.
2025-06-05T05:59:46.403Z,1749103186.403 [DAT](INFO): ****** received valid address query ******
2025-06-05T05:59:46.403Z,1749103186.403 [DAT](INFO): ****** received valid ping request ******
2025-06-05T05:59:46.403Z,1749103186.403 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:46.569Z,1749103186.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.58 m.
2025-06-05T05:59:46.572Z,1749103186.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 181.584366 m,
nav range: 148.191162 m,
bearing: 279.632152 deg,
approach rate: 0.113663 m/s,
LOS rate: 0.031359 deg/s,
cmd heading: 281.996873 deg,
new cmd heading: 282.030947 deg.
2025-06-05T05:59:46.573Z,1749103186.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.922369 target range: 181.584366 and range: 182.90 m.
2025-06-05T05:59:46.656Z,1749103186.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.215764
2025-06-05T05:59:46.908Z,1749103186.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467598
2025-06-05T05:59:47.010Z,1749103187.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.58 m.
2025-06-05T05:59:47.013Z,1749103187.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 181.584366 m,
nav range: 148.259811 m,
bearing: 279.646063 deg,
approach rate: 0.157129 m/s,
LOS rate: 0.031824 deg/s,
cmd heading: 282.030942 deg,
new cmd heading: 282.072654 deg.
2025-06-05T05:59:47.018Z,1749103187.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.923097 target range: 181.584366 and range: 182.90 m.
2025-06-05T05:59:47.160Z,1749103187.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720180
2025-06-05T05:59:47.395Z,1749103187.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.58 m.
2025-06-05T05:59:47.398Z,1749103187.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 181.584366 m,
nav range: 148.326904 m,
bearing: 279.659503 deg,
approach rate: 0.172279 m/s,
LOS rate: 0.034495 deg/s,
cmd heading: 282.072661 deg,
new cmd heading: 282.112963 deg.
2025-06-05T05:59:47.399Z,1749103187.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.923800 target range: 181.584366 and range: 182.90 m.
2025-06-05T05:59:47.412Z,1749103187.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971637
2025-06-05T05:59:47.663Z,1749103187.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223149
2025-06-05T05:59:47.769Z,1749103187.769 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T05:59:47.809Z,1749103187.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.58 m.
2025-06-05T05:59:47.855Z,1749103187.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 181.584366 m,
nav range: 148.392761 m,
bearing: 279.672508 deg,
approach rate: 0.159729 m/s,
LOS rate: 0.031530 deg/s,
cmd heading: 282.112959 deg,
new cmd heading: 282.151958 deg.
2025-06-05T05:59:47.863Z,1749103187.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.924480 target range: 181.584366 and range: 182.90 m.
2025-06-05T05:59:47.915Z,1749103187.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475231
2025-06-05T05:59:48.168Z,1749103188.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727683
2025-06-05T05:59:48.283Z,1749103188.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:48.286Z,1749103188.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.58 m.
2025-06-05T05:59:48.289Z,1749103188.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 181.584366 m,
nav range: 148.499863 m,
bearing: 279.689238 deg,
approach rate: 0.224115 m/s,
LOS rate: 0.034983 deg/s,
cmd heading: 282.151945 deg,
new cmd heading: 282.202099 deg.
2025-06-05T05:59:48.290Z,1749103188.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.925356 target range: 181.584366 and range: 182.90 m.
2025-06-05T05:59:48.420Z,1749103188.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980493
2025-06-05T05:59:48.675Z,1749103188.675 [DAT](INFO): DAT read: Rx Time:05:59:47.3687
2025-06-05T05:59:48.677Z,1749103188.677 [DAT](INFO): Rx dataTimestamp_ set to:1749103188.675884
2025-06-05T05:59:48.678Z,1749103188.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237520
2025-06-05T05:59:48.729Z,1749103188.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.58 m.
2025-06-05T05:59:48.736Z,1749103188.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 181.584366 m,
nav range: 148.596069 m,
bearing: 279.703745 deg,
approach rate: 0.216877 m/s,
LOS rate: 0.032681 deg/s,
cmd heading: 282.202106 deg,
new cmd heading: 282.245599 deg.
2025-06-05T05:59:48.737Z,1749103188.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.926115 target range: 181.584366 and range: 182.90 m.
2025-06-05T05:59:48.772Z,1749103188.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T05:59:48.923Z,1749103188.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483137
2025-06-05T05:59:49.183Z,1749103189.183 [DAT](INFO): DAT read: 05:59:47.3687 LVL= 13968, 17681, 18898, 30499, AGC= 58, IDX= 452, 0.04,-0.232, 1.143,-0.847,-0.941, PHS= 0.797, 2.131, 0.091, RAW= 349.9, -30.7, CAL= 357.6, -43.6, ROT= 152.4, 43.6
2025-06-05T05:59:49.184Z,1749103189.184 [DAT](INFO): got valid direction response:
05:59:47.3687 LVL= 13968, 17681, 18898, 30499, AGC= 58, IDX= 452, 0.04,-0.232, 1.143,-0.847,-0.941, PHS= 0.797, 2.131, 0.091, RAW= 349.9, -30.7, CAL= 357.6, -43.6, ROT= 152.4, 43.6
2025-06-05T05:59:49.185Z,1749103189.185 [DAT](INFO): DAT read: Bearing 152.4, 43.6 (Local)
2025-06-05T05:59:49.185Z,1749103189.185 [DAT](INFO): Local bearing/azimuth received:
Bearing 152.4, 43.6 (Local)
2025-06-05T05:59:49.187Z,1749103189.187 [DAT](INFO): DAT read: Range 10 to 50 : 183.4 m (Round-trip 244.6 ms) speed -0.4 m/s
2025-06-05T05:59:49.188Z,1749103189.188 [DAT](INFO): DAT read: user:588>
2025-06-05T05:59:49.188Z,1749103189.188 [DAT](INFO): DAT read: Tx time:05:59:48.4700
2025-06-05T05:59:49.189Z,1749103189.189 [DAT](INFO): Ping request sent.
2025-06-05T05:59:49.189Z,1749103189.189 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:59:49.189Z,1749103189.189 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T05:59:49.190Z,1749103189.190 [DAT](INFO): direction in FSK: [-0.641764,0.335506,-0.689620]
2025-06-05T05:59:49.191Z,1749103189.191 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:49.192Z,1749103189.192 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:49.200Z,1749103189.200 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:49.200Z,1749103189.200 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:49.223Z,1749103189.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 183.399994 m,
deltaT: 3.779185 s,
deltaX: 0.500000 m,
approachRate: 0.132304 m/s,
rangeRepo size: 3
2025-06-05T05:59:49.231Z,1749103189.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 182.071869 m,
bearing: 281.246666 deg,
lat: 36.906135 deg,
lon: -122.116095 deg,
deltaT: 3.779185 s,
deltaX: 0.487503 m,
approachRate: 0.128997 m/s,
posRepo size: 3
2025-06-05T05:59:49.232Z,1749103189.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.07 m.
2025-06-05T05:59:49.239Z,1749103189.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.071869 m,
nav range: 146.063766 m,
bearing: 281.124699 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.032681 deg/s,
cmd heading: 282.245601 deg,
new cmd heading: 282.293991 deg.
2025-06-05T05:59:49.240Z,1749103189.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.926960 target range: 182.071869 and range: 183.40 m.
2025-06-05T05:59:49.427Z,1749103189.427 [DAT](INFO): DAT read: TxSync time:05:59:48.4692
2025-06-05T05:59:49.659Z,1749103189.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.07 m.
2025-06-05T05:59:49.661Z,1749103189.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.071869 m,
nav range: 146.189438 m,
bearing: 281.142430 deg,
approach rate: 0.291163 m/s,
LOS rate: 0.041044 deg/s,
cmd heading: 282.293986 deg,
new cmd heading: 282.347133 deg.
2025-06-05T05:59:49.666Z,1749103189.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.927887 target range: 182.071869 and range: 183.40 m.
2025-06-05T05:59:50.048Z,1749103190.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.07 m.
2025-06-05T05:59:50.055Z,1749103190.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.071869 m,
nav range: 146.311157 m,
bearing: 281.160462 deg,
approach rate: 0.309548 m/s,
LOS rate: 0.045821 deg/s,
cmd heading: 282.347125 deg,
new cmd heading: 282.401177 deg.
2025-06-05T05:59:50.056Z,1749103190.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.928830 target range: 182.071869 and range: 183.40 m.
2025-06-05T05:59:50.420Z,1749103190.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:50.422Z,1749103190.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.07 m.
2025-06-05T05:59:50.427Z,1749103190.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.071869 m,
nav range: 146.425766 m,
bearing: 281.176754 deg,
approach rate: 0.306303 m/s,
LOS rate: 0.043509 deg/s,
cmd heading: 282.401165 deg,
new cmd heading: 282.450004 deg.
2025-06-05T05:59:50.428Z,1749103190.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.929683 target range: 182.071869 and range: 183.40 m.
2025-06-05T05:59:50.435Z,1749103190.435 [DAT](INFO): ****** received valid address query ******
2025-06-05T05:59:50.435Z,1749103190.435 [DAT](INFO): ****** received valid ping request ******
2025-06-05T05:59:50.435Z,1749103190.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:50.687Z,1749103190.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498550
2025-06-05T05:59:50.822Z,1749103190.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.07 m.
2025-06-05T05:59:50.829Z,1749103190.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.071869 m,
nav range: 146.548340 m,
bearing: 281.193686 deg,
approach rate: 0.306446 m/s,
LOS rate: 0.042295 deg/s,
cmd heading: 282.450015 deg,
new cmd heading: 282.500767 deg.
2025-06-05T05:59:50.830Z,1749103190.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.930569 target range: 182.071869 and range: 183.40 m.
2025-06-05T05:59:50.940Z,1749103190.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751090
2025-06-05T05:59:51.193Z,1749103191.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003920
2025-06-05T05:59:51.257Z,1749103191.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.07 m.
2025-06-05T05:59:51.261Z,1749103191.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.071869 m,
nav range: 146.695572 m,
bearing: 281.216620 deg,
approach rate: 0.338419 m/s,
LOS rate: 0.052662 deg/s,
cmd heading: 282.500777 deg,
new cmd heading: 282.569510 deg.
2025-06-05T05:59:51.262Z,1749103191.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.931768 target range: 182.071869 and range: 183.40 m.
2025-06-05T05:59:51.444Z,1749103191.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254935
2025-06-05T05:59:51.634Z,1749103191.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.07 m.
2025-06-05T05:59:51.637Z,1749103191.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.071869 m,
nav range: 146.823227 m,
bearing: 281.235926 deg,
approach rate: 0.338201 m/s,
LOS rate: 0.051104 deg/s,
cmd heading: 282.569516 deg,
new cmd heading: 282.627383 deg.
2025-06-05T05:59:51.638Z,1749103191.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932778 target range: 182.071869 and range: 183.40 m.
2025-06-05T05:59:51.696Z,1749103191.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506860
2025-06-05T05:59:51.947Z,1749103191.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758454
2025-06-05T05:59:52.115Z,1749103192.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.07 m.
2025-06-05T05:59:52.118Z,1749103192.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.071869 m,
nav range: 146.983673 m,
bearing: 281.265312 deg,
approach rate: 0.337549 m/s,
LOS rate: 0.061754 deg/s,
cmd heading: 282.627381 deg,
new cmd heading: 282.715442 deg.
2025-06-05T05:59:52.123Z,1749103192.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.934315 target range: 182.071869 and range: 183.40 m.
2025-06-05T05:59:52.199Z,1749103192.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010735
2025-06-05T05:59:52.451Z,1749103192.451 [DAT](INFO): DAT read: Rx Time:05:59:51.1211
2025-06-05T05:59:52.452Z,1749103192.452 [DAT](INFO): Rx dataTimestamp_ set to:1749103192.451385
2025-06-05T05:59:52.452Z,1749103192.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263452
2025-06-05T05:59:52.455Z,1749103192.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:52.459Z,1749103192.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.07 m.
2025-06-05T05:59:52.462Z,1749103192.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.071869 m,
nav range: 147.107193 m,
bearing: 281.287542 deg,
approach rate: 0.355223 m/s,
LOS rate: 0.063876 deg/s,
cmd heading: 282.715436 deg,
new cmd heading: 282.782070 deg.
2025-06-05T05:59:52.463Z,1749103192.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.935478 target range: 182.071869 and range: 183.40 m.
2025-06-05T05:59:52.703Z,1749103192.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514363
2025-06-05T05:59:52.963Z,1749103192.963 [DAT](INFO): DAT read: 05:59:51.1211 LVL= 18272, 25233, 22482, 32755, AGC= 66, IDX= 441, 0.20,-2.014,-0.626,-2.617,-2.681, PHS= 0.755, 2.102, 0.060, RAW= 349.5, -29.8, CAL= 357.0, -42.6, ROT= 153.0, 42.6
2025-06-05T05:59:52.964Z,1749103192.964 [DAT](INFO): got valid direction response:
05:59:51.1211 LVL= 18272, 25233, 22482, 32755, AGC= 66, IDX= 441, 0.20,-2.014,-0.626,-2.617,-2.681, PHS= 0.755, 2.102, 0.060, RAW= 349.5, -29.8, CAL= 357.0, -42.6, ROT= 153.0, 42.6
2025-06-05T05:59:52.965Z,1749103192.965 [DAT](INFO): DAT read: Bearing 153.0, 42.6 (Local)
2025-06-05T05:59:52.965Z,1749103192.965 [DAT](INFO): Local bearing/azimuth received:
Bearing 153.0, 42.6 (Local)
2025-06-05T05:59:52.967Z,1749103192.967 [DAT](INFO): DAT read: Range 10 to 50 : 185.2 m (Round-trip 247.0 ms) speed 0.0 m/s
2025-06-05T05:59:52.967Z,1749103192.967 [DAT](INFO): DAT read: user:589>
2025-06-05T05:59:52.968Z,1749103192.968 [DAT](INFO): DAT read: Tx time:05:59:52.2201
2025-06-05T05:59:52.968Z,1749103192.968 [DAT](INFO): Ping request sent.
2025-06-05T05:59:52.968Z,1749103192.968 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:59:52.969Z,1749103192.969 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T05:59:52.970Z,1749103192.970 [DAT](INFO): direction in FSK: [-0.655867,0.334181,-0.676876]
2025-06-05T05:59:52.972Z,1749103192.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.07 m.
2025-06-05T05:59:52.970Z,1749103192.970 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:52.975Z,1749103192.975 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:52.996Z,1749103192.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.071869 m,
nav range: 147.277573 m,
bearing: 281.317746 deg,
approach rate: 0.330946 m/s,
LOS rate: 0.058601 deg/s,
cmd heading: 282.782071 deg,
new cmd heading: 282.872579 deg.
2025-06-05T05:59:52.997Z,1749103192.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.937058 target range: 182.071869 and range: 183.40 m.
2025-06-05T05:59:52.999Z,1749103192.999 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:52.999Z,1749103192.999 [DAT](INFO): publishing direction and range info
2025-06-05T05:59:53.207Z,1749103193.207 [DAT](INFO): DAT read: TxSync time:05:59:52.2193
2025-06-05T05:59:53.348Z,1749103193.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 185.199997 m,
deltaT: 3.779463 s,
deltaX: 1.800003 m,
approachRate: 0.476259 m/s,
rangeRepo size: 4
2025-06-05T05:59:53.354Z,1749103193.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 183.858963 m,
bearing: 278.902780 deg,
lat: 36.906135 deg,
lon: -122.116095 deg,
deltaT: 3.779463 s,
deltaX: 1.787094 m,
approachRate: 0.472843 m/s,
posRepo size: 4
2025-06-05T05:59:53.355Z,1749103193.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:53.363Z,1749103193.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 147.428070 m,
bearing: 281.345760 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.058601 deg/s,
cmd heading: 282.872585 deg,
new cmd heading: 282.938557 deg.
2025-06-05T05:59:53.364Z,1749103193.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.938210 target range: 183.858963 and range: 185.20 m.
2025-06-05T05:59:53.732Z,1749103193.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:53.743Z,1749103193.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 147.568588 m,
bearing: 281.371960 deg,
approach rate: 0.365545 m/s,
LOS rate: 0.068091 deg/s,
cmd heading: 282.938565 deg,
new cmd heading: 283.017089 deg.
2025-06-05T05:59:53.744Z,1749103193.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.939580 target range: 183.858963 and range: 185.20 m.
2025-06-05T05:59:54.145Z,1749103194.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:54.164Z,1749103194.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 147.742767 m,
bearing: 281.408382 deg,
approach rate: 0.421034 m/s,
LOS rate: 0.087938 deg/s,
cmd heading: 283.017084 deg,
new cmd heading: 283.126223 deg.
2025-06-05T05:59:54.165Z,1749103194.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.941485 target range: 183.858963 and range: 185.20 m.
2025-06-05T05:59:54.492Z,1749103194.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:54.500Z,1749103194.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:54.510Z,1749103194.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 147.873886 m,
bearing: 281.436144 deg,
approach rate: 0.370345 m/s,
LOS rate: 0.078343 deg/s,
cmd heading: 283.126231 deg,
new cmd heading: 283.209442 deg.
2025-06-05T05:59:54.516Z,1749103194.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.942937 target range: 183.858963 and range: 185.20 m.
2025-06-05T05:59:54.723Z,1749103194.723 [DAT](INFO): ****** received valid address query ******
2025-06-05T05:59:54.723Z,1749103194.723 [DAT](INFO): ****** received valid ping request ******
2025-06-05T05:59:54.723Z,1749103194.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:54.893Z,1749103194.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:54.896Z,1749103194.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 148.038483 m,
bearing: 281.470914 deg,
approach rate: 0.417777 m/s,
LOS rate: 0.088153 deg/s,
cmd heading: 283.209450 deg,
new cmd heading: 283.313642 deg.
2025-06-05T05:59:54.897Z,1749103194.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.944756 target range: 183.858963 and range: 185.20 m.
2025-06-05T05:59:54.977Z,1749103194.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008315
2025-06-05T05:59:55.228Z,1749103195.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259276
2025-06-05T05:59:55.316Z,1749103195.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:55.319Z,1749103195.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 148.208160 m,
bearing: 281.510641 deg,
approach rate: 0.401874 m/s,
LOS rate: 0.093984 deg/s,
cmd heading: 283.313651 deg,
new cmd heading: 283.432696 deg.
2025-06-05T05:59:55.320Z,1749103195.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.946834 target range: 183.858963 and range: 185.20 m.
2025-06-05T05:59:55.479Z,1749103195.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510866
2025-06-05T05:59:55.672Z,1749103195.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:55.677Z,1749103195.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 148.349976 m,
bearing: 281.545022 deg,
approach rate: 0.397924 m/s,
LOS rate: 0.096380 deg/s,
cmd heading: 283.432688 deg,
new cmd heading: 283.535734 deg.
2025-06-05T05:59:55.678Z,1749103195.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.948632 target range: 183.858963 and range: 185.20 m.
2025-06-05T05:59:55.731Z,1749103195.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762968
2025-06-05T05:59:55.986Z,1749103195.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016886
2025-06-05T05:59:56.115Z,1749103196.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:56.122Z,1749103196.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 148.522202 m,
bearing: 281.589561 deg,
approach rate: 0.388483 m/s,
LOS rate: 0.100347 deg/s,
cmd heading: 283.535742 deg,
new cmd heading: 283.669202 deg.
2025-06-05T05:59:56.123Z,1749103196.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.950962 target range: 183.858963 and range: 185.20 m.
2025-06-05T05:59:56.236Z,1749103196.236 [DAT](INFO): DAT read: Rx Time:05:59:54.8710
2025-06-05T05:59:56.237Z,1749103196.237 [DAT](INFO): Rx dataTimestamp_ set to:1749103196.236184
2025-06-05T05:59:56.237Z,1749103196.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269063
2025-06-05T05:59:56.476Z,1749103196.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:56.480Z,1749103196.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 148.675446 m,
bearing: 281.631022 deg,
approach rate: 0.427249 m/s,
LOS rate: 0.115475 deg/s,
cmd heading: 283.669204 deg,
new cmd heading: 283.793458 deg.
2025-06-05T05:59:56.481Z,1749103196.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.953130 target range: 183.858963 and range: 185.20 m.
2025-06-05T05:59:56.488Z,1749103196.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519547
2025-06-05T05:59:56.740Z,1749103196.740 [DAT](INFO): DAT read: Range 10 to 50 : 185.1 m (Round-trip 246.8 ms) speed -0.4 m/s
2025-06-05T05:59:56.742Z,1749103196.742 [DAT](INFO): DAT read: user:590>
2025-06-05T05:59:56.743Z,1749103196.743 [DAT](INFO): DAT read: Tx time:05:59:55.9701
2025-06-05T05:59:56.744Z,1749103196.744 [DAT](INFO): Ping request sent.
2025-06-05T05:59:56.744Z,1749103196.744 [DAT](INFO): transmitted an acoustic signal
2025-06-05T05:59:56.744Z,1749103196.744 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T05:59:56.744Z,1749103196.744 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:56.745Z,1749103196.745 [DAT](INFO): publishing transmit ping time
2025-06-05T05:59:56.898Z,1749103196.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:56.907Z,1749103196.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 185.100006 m,
deltaT: 3.784004 s,
deltaX: -0.099991 m,
approachRate: -0.026425 m/s,
rangeRepo size: 4
2025-06-05T05:59:56.908Z,1749103196.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:56.927Z,1749103196.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 148.842743 m,
bearing: 281.678514 deg,
approach rate: 0.391903 m/s,
LOS rate: 0.111128 deg/s,
cmd heading: 283.793458 deg,
new cmd heading: 283.935774 deg.
2025-06-05T05:59:56.928Z,1749103196.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.955614 target range: 183.858963 and range: 185.10 m.
2025-06-05T05:59:56.997Z,1749103196.997 [DAT](INFO): DAT read: TxSync time:05:59:55.9693
2025-06-05T05:59:56.999Z,1749103196.999 [DAT](INFO): ****** received valid address query ******
2025-06-05T05:59:56.000Z,1749103197.000 [DAT](INFO): ****** received valid ping request ******
2025-06-05T05:59:57.001Z,1749103197.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T05:59:57.248Z,1749103197.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503857
2025-06-05T05:59:57.415Z,1749103197.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:57.418Z,1749103197.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 149.059052 m,
bearing: 281.742298 deg,
approach rate: 0.420532 m/s,
LOS rate: 0.123824 deg/s,
cmd heading: 283.935772 deg,
new cmd heading: 284.126845 deg.
2025-06-05T05:59:57.419Z,1749103197.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.958949 target range: 183.858963 and range: 185.10 m.
2025-06-05T05:59:57.501Z,1749103197.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757035
2025-06-05T05:59:57.754Z,1749103197.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009715
2025-06-05T05:59:57.794Z,1749103197.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:57.797Z,1749103197.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 149.211227 m,
bearing: 281.787026 deg,
approach rate: 0.419319 m/s,
LOS rate: 0.123124 deg/s,
cmd heading: 284.126854 deg,
new cmd heading: 284.260903 deg.
2025-06-05T05:59:57.802Z,1749103197.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.961288 target range: 183.858963 and range: 185.10 m.
2025-06-05T05:59:58.007Z,1749103198.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262498
2025-06-05T05:59:58.227Z,1749103198.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:58.230Z,1749103198.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 149.395523 m,
bearing: 281.845730 deg,
approach rate: 0.410515 m/s,
LOS rate: 0.130599 deg/s,
cmd heading: 284.260889 deg,
new cmd heading: 284.436781 deg.
2025-06-05T05:59:58.231Z,1749103198.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.964358 target range: 183.858963 and range: 185.10 m.
2025-06-05T05:59:58.255Z,1749103198.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511347
2025-06-05T05:59:58.509Z,1749103198.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764741
2025-06-05T05:59:58.650Z,1749103198.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:58.653Z,1749103198.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 149.562134 m,
bearing: 281.904258 deg,
approach rate: 0.394239 m/s,
LOS rate: 0.138338 deg/s,
cmd heading: 284.436780 deg,
new cmd heading: 284.612170 deg.
2025-06-05T05:59:58.654Z,1749103198.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.967420 target range: 183.858963 and range: 185.10 m.
2025-06-05T05:59:58.761Z,1749103198.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016794
2025-06-05T05:59:59.014Z,1749103199.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269450
2025-06-05T05:59:59.057Z,1749103199.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T05:59:59.064Z,1749103199.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:59.071Z,1749103199.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 149.717468 m,
bearing: 281.961312 deg,
approach rate: 0.375191 m/s,
LOS rate: 0.137662 deg/s,
cmd heading: 284.612180 deg,
new cmd heading: 284.783161 deg.
2025-06-05T05:59:59.072Z,1749103199.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.970404 target range: 183.858963 and range: 185.10 m.
2025-06-05T05:59:59.263Z,1749103199.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519270
2025-06-05T05:59:59.422Z,1749103199.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:59.443Z,1749103199.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 149.863785 m,
bearing: 282.014140 deg,
approach rate: 0.408760 m/s,
LOS rate: 0.147441 deg/s,
cmd heading: 284.783153 deg,
new cmd heading: 284.941483 deg.
2025-06-05T05:59:59.444Z,1749103199.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.973167 target range: 183.858963 and range: 185.10 m.
2025-06-05T05:59:59.518Z,1749103199.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773892
2025-06-05T05:59:59.767Z,1749103199.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023275
2025-06-05T05:59:59.925Z,1749103199.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.86 m.
2025-06-05T05:59:59.933Z,1749103199.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 183.858963 m,
nav range: 150.054718 m,
bearing: 282.086164 deg,
approach rate: 0.379701 m/s,
LOS rate: 0.143049 deg/s,
cmd heading: 284.941477 deg,
new cmd heading: 285.157273 deg.
2025-06-05T05:59:59.939Z,1749103199.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.976933 target range: 183.858963 and range: 185.10 m.
2025-06-05T06:00:00.024Z,1749103200.024 [DAT](INFO): DAT read: Rx Time:05:59:58.6232
2025-06-05T06:00:00.026Z,1749103200.026 [DAT](INFO): Rx dataTimestamp_ set to:1749103200.024527
2025-06-05T06:00:00.028Z,1749103200.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284214
2025-06-05T06:00:00.271Z,1749103200.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527179
2025-06-05T06:00:00.531Z,1749103200.531 [DAT](INFO): DAT read: 05:59:58.6232 LVL= 13040, 17393, 14610, 26803, AGC= 62, IDX= 449,-0.09,-2.723,-1.233, 3.015, 2.906, PHS= 0.742, 2.191, 0.106, RAW= 347.3, -30.1, CAL= 354.4, -43.0, ROT= 155.6, 43.0
2025-06-05T06:00:00.532Z,1749103200.532 [DAT](INFO): got valid direction response:
05:59:58.6232 LVL= 13040, 17393, 14610, 26803, AGC= 62, IDX= 449,-0.09,-2.723,-1.233, 3.015, 2.906, PHS= 0.742, 2.191, 0.106, RAW= 347.3, -30.1, CAL= 354.4, -43.0, ROT= 155.6, 43.0
2025-06-05T06:00:00.533Z,1749103200.533 [DAT](INFO): DAT read: Bearing 155.6, 43.0 (Local)
2025-06-05T06:00:00.533Z,1749103200.533 [DAT](INFO): Local bearing/azimuth received:
Bearing 155.6, 43.0 (Local)
2025-06-05T06:00:00.535Z,1749103200.535 [DAT](INFO): DAT read: Range 10 to 50 : 186.7 m (Round-trip 249.0 ms) speed -0.4 m/s
2025-06-05T06:00:00.536Z,1749103200.536 [DAT](INFO): DAT read: user:591>
2025-06-05T06:00:00.536Z,1749103200.536 [DAT](INFO): DAT read: Tx time:05:59:59.7201
2025-06-05T06:00:00.537Z,1749103200.537 [DAT](INFO): Ping request sent.
2025-06-05T06:00:00.537Z,1749103200.537 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:00.537Z,1749103200.537 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:00:00.543Z,1749103200.543 [DAT](INFO): direction in FSK: [-0.666032,0.302125,-0.681998]
2025-06-05T06:00:00.543Z,1749103200.543 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:00.544Z,1749103200.544 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:00.560Z,1749103200.560 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:00.560Z,1749103200.560 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:00.625Z,1749103200.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 186.699997 m,
deltaT: 3.784069 s,
deltaX: 1.599991 m,
approachRate: 0.422823 m/s,
rangeRepo size: 4
2025-06-05T06:00:00.632Z,1749103200.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 185.400635 m,
bearing: 292.380028 deg,
lat: 36.906138 deg,
lon: -122.116095 deg,
deltaT: 7.568073 s,
deltaX: 1.541672 m,
approachRate: 0.203707 m/s,
posRepo size: 4
2025-06-05T06:00:00.633Z,1749103200.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:00.640Z,1749103200.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 150.367111 m,
bearing: 282.298000 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.143049 deg/s,
cmd heading: 285.157283 deg,
new cmd heading: 285.457170 deg.
2025-06-05T06:00:00.651Z,1749103200.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.982168 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:00.777Z,1749103200.777 [DAT](INFO): DAT read: TxSync time:05:59:59.7193
2025-06-05T06:00:01.153Z,1749103201.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:01.155Z,1749103201.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:01.160Z,1749103201.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 150.593124 m,
bearing: 282.386602 deg,
approach rate: 0.425224 m/s,
LOS rate: 0.166447 deg/s,
cmd heading: 285.457183 deg,
new cmd heading: 285.722589 deg.
2025-06-05T06:00:01.161Z,1749103201.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.986800 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:01.279Z,1749103201.279 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:01.279Z,1749103201.279 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:01.279Z,1749103201.279 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:01.531Z,1749103201.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994392
2025-06-05T06:00:01.537Z,1749103201.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:01.540Z,1749103201.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 150.733276 m,
bearing: 282.444763 deg,
approach rate: 0.367073 m/s,
LOS rate: 0.152186 deg/s,
cmd heading: 285.722577 deg,
new cmd heading: 285.896895 deg.
2025-06-05T06:00:01.566Z,1749103201.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989842 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:01.783Z,1749103201.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246522
2025-06-05T06:00:01.952Z,1749103201.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:01.955Z,1749103201.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 150.881271 m,
bearing: 282.510200 deg,
approach rate: 0.356101 m/s,
LOS rate: 0.157299 deg/s,
cmd heading: 285.896883 deg,
new cmd heading: 286.093002 deg.
2025-06-05T06:00:01.956Z,1749103201.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993265 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:02.040Z,1749103202.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502214
2025-06-05T06:00:02.287Z,1749103202.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750200
2025-06-05T06:00:02.371Z,1749103202.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:02.390Z,1749103202.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 151.026108 m,
bearing: 282.577038 deg,
approach rate: 0.345939 m/s,
LOS rate: 0.159488 deg/s,
cmd heading: 286.092992 deg,
new cmd heading: 286.293313 deg.
2025-06-05T06:00:02.393Z,1749103202.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996761 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:02.539Z,1749103202.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002647
2025-06-05T06:00:02.767Z,1749103202.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:02.771Z,1749103202.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 151.151718 m,
bearing: 282.638162 deg,
approach rate: 0.316834 m/s,
LOS rate: 0.154048 deg/s,
cmd heading: 286.293308 deg,
new cmd heading: 286.476526 deg.
2025-06-05T06:00:02.772Z,1749103202.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999959 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:02.793Z,1749103202.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255806
2025-06-05T06:00:03.047Z,1749103203.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509587
2025-06-05T06:00:03.189Z,1749103203.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:03.196Z,1749103203.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:03.203Z,1749103203.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 151.292740 m,
bearing: 282.707539 deg,
approach rate: 0.329220 m/s,
LOS rate: 0.161813 deg/s,
cmd heading: 286.476521 deg,
new cmd heading: 286.684458 deg.
2025-06-05T06:00:03.204Z,1749103203.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003588 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:03.296Z,1749103203.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758823
2025-06-05T06:00:03.547Z,1749103203.547 [DAT](INFO): DAT read: Rx Time:06:00:02.3214
2025-06-05T06:00:03.548Z,1749103203.548 [DAT](INFO): Rx dataTimestamp_ set to:1749103203.547485
2025-06-05T06:00:03.548Z,1749103203.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011518
2025-06-05T06:00:03.643Z,1749103203.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:03.650Z,1749103203.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 151.427444 m,
bearing: 282.777314 deg,
approach rate: 0.304386 m/s,
LOS rate: 0.157526 deg/s,
cmd heading: 286.684459 deg,
new cmd heading: 286.893596 deg.
2025-06-05T06:00:03.655Z,1749103203.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.007238 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:03.799Z,1749103203.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262262
2025-06-05T06:00:04.056Z,1749103204.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518037
2025-06-05T06:00:04.221Z,1749103204.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:04.223Z,1749103204.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 151.636642 m,
bearing: 282.882833 deg,
approach rate: 0.359331 m/s,
LOS rate: 0.180996 deg/s,
cmd heading: 286.893599 deg,
new cmd heading: 287.209717 deg.
2025-06-05T06:00:04.227Z,1749103204.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.012755 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:04.312Z,1749103204.312 [DAT](INFO): DAT read: 06:00:02.3214 LVL= 18272, 21457, 21090, 28371, AGC= 57, IDX= 399, 0.35, 1.560, 1.673,-0.407, 0.893, PHS= 0.755, 0.827,-1.303, RAW= 28.3, -2.7, CAL= 28.1, -5.4, ROT= 121.9, 5.4
2025-06-05T06:00:04.313Z,1749103204.313 [DAT](INFO): got valid direction response:
06:00:02.3214 LVL= 18272, 21457, 21090, 28371, AGC= 57, IDX= 399, 0.35, 1.560, 1.673,-0.407, 0.893, PHS= 0.755, 0.827,-1.303, RAW= 28.3, -2.7, CAL= 28.1, -5.4, ROT= 121.9, 5.4
2025-06-05T06:00:04.316Z,1749103204.316 [DAT](INFO): DAT read: Bearing 121.9, 5.4 (Local)
2025-06-05T06:00:04.316Z,1749103204.316 [DAT](INFO): Local bearing/azimuth received:
Bearing 121.9, 5.4 (Local)
2025-06-05T06:00:04.319Z,1749103204.319 [DAT](INFO): DAT read: Range 10 to 50 : 147.9 m (Round-trip 197.2 ms) speed -0.4 m/s
2025-06-05T06:00:04.320Z,1749103204.320 [DAT](INFO): DAT read: user:592>
2025-06-05T06:00:04.321Z,1749103204.321 [DAT](INFO): DAT read: Tx time:06:00:03.4201
2025-06-05T06:00:04.322Z,1749103204.322 [DAT](INFO): Ping request sent.
2025-06-05T06:00:04.322Z,1749103204.322 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:04.335Z,1749103204.335 [DAT](INFO): DAT read: TxSync time:06:00:03.4193
2025-06-05T06:00:04.335Z,1749103204.335 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:00:04.336Z,1749103204.336 [DAT](INFO): direction in FSK: [-0.526093,0.845204,-0.094108]
2025-06-05T06:00:04.336Z,1749103204.336 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:04.337Z,1749103204.337 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:04.345Z,1749103204.345 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:04.345Z,1749103204.345 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:04.768Z,1749103204.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 147.899994 m,
deltaT: 3.780050 s,
deltaX: -38.800003 m,
approachRate: -10.264416 m/s,
rangeRepo size: 4
2025-06-05T06:00:04.769Z,1749103204.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:04.777Z,1749103204.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 151.789780 m,
bearing: 282.974231 deg,
approach rate: 0.280060 m/s,
LOS rate: 0.166981 deg/s,
cmd heading: 287.209728 deg,
new cmd heading: 287.483642 deg.
2025-06-05T06:00:04.778Z,1749103204.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.017536 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:05.267Z,1749103205.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:05.270Z,1749103205.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:05.272Z,1749103205.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 151.934555 m,
bearing: 283.071552 deg,
approach rate: 0.288307 m/s,
LOS rate: 0.193621 deg/s,
cmd heading: 287.483646 deg,
new cmd heading: 287.775328 deg.
2025-06-05T06:00:05.273Z,1749103205.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022627 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:05.311Z,1749103205.311 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:05.311Z,1749103205.311 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:05.311Z,1749103205.311 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:05.565Z,1749103205.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242583
2025-06-05T06:00:05.679Z,1749103205.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:05.681Z,1749103205.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 152.039215 m,
bearing: 283.146168 deg,
approach rate: 0.255706 m/s,
LOS rate: 0.182176 deg/s,
cmd heading: 287.775322 deg,
new cmd heading: 287.999015 deg.
2025-06-05T06:00:05.687Z,1749103205.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.026531 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:05.815Z,1749103205.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493341
2025-06-05T06:00:06.070Z,1749103206.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747894
2025-06-05T06:00:06.319Z,1749103206.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997228
2025-06-05T06:00:06.347Z,1749103206.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:06.350Z,1749103206.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 152.190140 m,
bearing: 283.271357 deg,
approach rate: 0.225835 m/s,
LOS rate: 0.187140 deg/s,
cmd heading: 287.999024 deg,
new cmd heading: 288.374214 deg.
2025-06-05T06:00:06.356Z,1749103206.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.033080 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:06.571Z,1749103206.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249258
2025-06-05T06:00:06.779Z,1749103206.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:06.781Z,1749103206.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 152.283386 m,
bearing: 283.359659 deg,
approach rate: 0.218466 m/s,
LOS rate: 0.206756 deg/s,
cmd heading: 288.374220 deg,
new cmd heading: 288.638963 deg.
2025-06-05T06:00:06.787Z,1749103206.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.037700 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:06.823Z,1749103206.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501503
2025-06-05T06:00:07.076Z,1749103207.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754368
2025-06-05T06:00:07.280Z,1749103207.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:07.283Z,1749103207.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:07.285Z,1749103207.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 152.375580 m,
bearing: 283.463912 deg,
approach rate: 0.181413 m/s,
LOS rate: 0.205018 deg/s,
cmd heading: 288.638959 deg,
new cmd heading: 288.951524 deg.
2025-06-05T06:00:07.302Z,1749103207.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.043156 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:07.328Z,1749103207.328 [DAT](INFO): DAT read: Rx Time:06:00:06.0229
2025-06-05T06:00:07.328Z,1749103207.328 [DAT](INFO): Rx dataTimestamp_ set to:1749103207.327905
2025-06-05T06:00:07.329Z,1749103207.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006893
2025-06-05T06:00:07.579Z,1749103207.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257282
2025-06-05T06:00:07.846Z,1749103207.846 [DAT](INFO): DAT read: 06:00:06.0229 LVL= 22048, 26593, 26578, 32755, AGC= 63, IDX= 461, 0.38,-1.964,-2.663, 2.023, 3.114, PHS= 1.293, 0.554,-1.094, RAW= 47.6, -7.2, CAL= 52.0, -12.8, ROT= 98.0, 12.8
2025-06-05T06:00:07.849Z,1749103207.849 [DAT](INFO): got valid direction response:
06:00:06.0229 LVL= 22048, 26593, 26578, 32755, AGC= 63, IDX= 461, 0.38,-1.964,-2.663, 2.023, 3.114, PHS= 1.293, 0.554,-1.094, RAW= 47.6, -7.2, CAL= 52.0, -12.8, ROT= 98.0, 12.8
2025-06-05T06:00:07.850Z,1749103207.850 [DAT](INFO): DAT read: Bearing 98.0, 12.8 (Local)
2025-06-05T06:00:07.852Z,1749103207.852 [DAT](INFO): Local bearing/azimuth received:
Bearing 98.0, 12.8 (Local)
2025-06-05T06:00:07.855Z,1749103207.855 [DAT](INFO): DAT read: Range 10 to 50 : 148.9 m (Round-trip 198.6 ms) speed 0.0 m/s
2025-06-05T06:00:07.856Z,1749103207.856 [DAT](INFO): DAT read: user:593>
2025-06-05T06:00:07.859Z,1749103207.859 [DAT](INFO): DAT read: Tx time:06:00:07.1202
2025-06-05T06:00:07.860Z,1749103207.860 [DAT](INFO): Ping request sent.
2025-06-05T06:00:07.860Z,1749103207.860 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:07.860Z,1749103207.860 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:00:07.861Z,1749103207.861 [DAT](INFO): direction in FSK: [-0.135715,0.965659,-0.221548]
2025-06-05T06:00:07.861Z,1749103207.861 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:07.862Z,1749103207.862 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:07.865Z,1749103207.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:07.872Z,1749103207.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 152.471848 m,
bearing: 283.572028 deg,
approach rate: 0.165105 m/s,
LOS rate: 0.185309 deg/s,
cmd heading: 288.951535 deg,
new cmd heading: 289.275676 deg.
2025-06-05T06:00:07.873Z,1749103207.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.048813 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:07.885Z,1749103207.885 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:07.885Z,1749103207.885 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:08.085Z,1749103208.085 [DAT](INFO): DAT read: TxSync time:06:00:07.1194
2025-06-05T06:00:08.413Z,1749103208.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 148.899994 m,
deltaT: 7.309192 s,
deltaX: -37.800003 m,
approachRate: -5.171571 m/s,
rangeRepo size: 4
2025-06-05T06:00:08.414Z,1749103208.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:08.432Z,1749103208.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 152.573822 m,
bearing: 283.694937 deg,
approach rate: 0.188169 m/s,
LOS rate: 0.226646 deg/s,
cmd heading: 289.275669 deg,
new cmd heading: 289.644143 deg.
2025-06-05T06:00:08.433Z,1749103208.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.055244 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:08.765Z,1749103208.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:08.769Z,1749103208.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 152.614441 m,
bearing: 283.772794 deg,
approach rate: 0.113357 m/s,
LOS rate: 0.217222 deg/s,
cmd heading: 289.644144 deg,
new cmd heading: 289.877651 deg.
2025-06-05T06:00:08.770Z,1749103208.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059319 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:09.258Z,1749103209.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:09.262Z,1749103209.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 152.657944 m,
bearing: 283.882029 deg,
approach rate: 0.088475 m/s,
LOS rate: 0.222096 deg/s,
cmd heading: 289.877654 deg,
new cmd heading: 290.205263 deg.
2025-06-05T06:00:09.263Z,1749103209.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.065037 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:09.700Z,1749103209.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:09.702Z,1749103209.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:09.705Z,1749103209.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 152.689880 m,
bearing: 283.977988 deg,
approach rate: 0.071817 m/s,
LOS rate: 0.215741 deg/s,
cmd heading: 290.205258 deg,
new cmd heading: 290.493070 deg.
2025-06-05T06:00:09.706Z,1749103209.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.070061 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:09.847Z,1749103209.847 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:09.847Z,1749103209.847 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:09.847Z,1749103209.847 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:10.054Z,1749103210.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:10.057Z,1749103210.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 152.710709 m,
bearing: 284.055451 deg,
approach rate: 0.059137 m/s,
LOS rate: 0.219912 deg/s,
cmd heading: 290.493082 deg,
new cmd heading: 290.725440 deg.
2025-06-05T06:00:10.059Z,1749103210.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.074116 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:10.101Z,1749103210.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240791
2025-06-05T06:00:10.352Z,1749103210.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491596
2025-06-05T06:00:10.515Z,1749103210.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:10.520Z,1749103210.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 152.724518 m,
bearing: 284.159194 deg,
approach rate: 0.030001 m/s,
LOS rate: 0.225366 deg/s,
cmd heading: 290.725445 deg,
new cmd heading: 291.036641 deg.
2025-06-05T06:00:10.521Z,1749103210.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.079547 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:10.603Z,1749103210.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743214
2025-06-05T06:00:10.855Z,1749103210.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995080
2025-06-05T06:00:10.924Z,1749103210.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:10.929Z,1749103210.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 152.730606 m,
bearing: 284.252179 deg,
approach rate: 0.014873 m/s,
LOS rate: 0.227149 deg/s,
cmd heading: 291.036628 deg,
new cmd heading: 291.315569 deg.
2025-06-05T06:00:10.930Z,1749103210.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.084416 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:11.107Z,1749103211.107 [DAT](INFO): DAT read: Rx Time:06:00:09.7235
2025-06-05T06:00:11.108Z,1749103211.108 [DAT](INFO): Rx dataTimestamp_ set to:1749103211.107287
2025-06-05T06:00:11.108Z,1749103211.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248237
2025-06-05T06:00:11.347Z,1749103211.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.40 m.
2025-06-05T06:00:11.350Z,1749103211.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.400635 m,
nav range: 152.742691 m,
bearing: 284.342357 deg,
approach rate: 0.028555 m/s,
LOS rate: 0.213061 deg/s,
cmd heading: 291.315573 deg,
new cmd heading: 291.586085 deg.
2025-06-05T06:00:11.355Z,1749103211.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.089137 target range: 185.400635 and range: 186.70 m.
2025-06-05T06:00:11.360Z,1749103211.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500130
2025-06-05T06:00:11.617Z,1749103211.617 [DAT](INFO): DAT read: 06:00:09.7235 LVL= 21584, 29329, 28626, 32755, AGC= 59, IDX= 452,-0.05,-1.966,-2.831, 2.202,-3.023, PHS= 1.146, 0.240,-1.061, RAW= 54.1, -3.4, CAL= 57.6, -7.6, ROT= 92.4, 7.6
2025-06-05T06:00:11.618Z,1749103211.618 [DAT](INFO): got valid direction response:
06:00:09.7235 LVL= 21584, 29329, 28626, 32755, AGC= 59, IDX= 452,-0.05,-1.966,-2.831, 2.202,-3.023, PHS= 1.146, 0.240,-1.061, RAW= 54.1, -3.4, CAL= 57.6, -7.6, ROT= 92.4, 7.6
2025-06-05T06:00:11.644Z,1749103211.644 [DAT](INFO): DAT read: Bearing 92.4, 7.6 (Local)
2025-06-05T06:00:11.646Z,1749103211.646 [DAT](INFO): Local bearing/azimuth received:
Bearing 92.4, 7.6 (Local)
2025-06-05T06:00:11.649Z,1749103211.649 [DAT](INFO): DAT read: Range 10 to 50 : 149.4 m (Round-trip 199.2 ms) speed -0.1 m/s
2025-06-05T06:00:11.694Z,1749103211.694 [DAT](INFO): DAT read: user:594>
2025-06-05T06:00:11.695Z,1749103211.695 [DAT](INFO): DAT read: Tx time:06:00:10.8202
2025-06-05T06:00:11.696Z,1749103211.696 [DAT](INFO): Ping request sent.
2025-06-05T06:00:11.696Z,1749103211.696 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:11.696Z,1749103211.696 [DAT](INFO): DAT read: TxSync time:06:00:10.8194
2025-06-05T06:00:11.697Z,1749103211.697 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:00:11.698Z,1749103211.698 [DAT](INFO): direction in FSK: [-0.041508,0.990346,-0.132256]
2025-06-05T06:00:11.710Z,1749103211.710 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:11.711Z,1749103211.711 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:11.714Z,1749103211.714 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:11.714Z,1749103211.714 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:11.800Z,1749103211.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 149.399994 m,
deltaT: 11.087874 s,
deltaX: -37.300003 m,
approachRate: -3.364036 m/s,
rangeRepo size: 4
2025-06-05T06:00:11.802Z,1749103211.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 148.361908 m,
bearing: 285.120345 deg,
lat: 36.906140 deg,
lon: -122.116027 deg,
deltaT: 11.087874 s,
deltaX: -37.038727 m,
approachRate: -3.340472 m/s,
posRepo size: 4
2025-06-05T06:00:11.827Z,1749103211.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.36 m.
2025-06-05T06:00:11.829Z,1749103211.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.361908 m,
nav range: 146.996826 m,
bearing: 285.120857 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.213061 deg/s,
cmd heading: 291.586076 deg,
new cmd heading: 291.875076 deg.
2025-06-05T06:00:11.839Z,1749103211.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.094181 target range: 148.361908 and range: 149.40 m.
2025-06-05T06:00:12.280Z,1749103212.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:12.287Z,1749103212.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.36 m.
2025-06-05T06:00:12.289Z,1749103212.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.361908 m,
nav range: 146.991348 m,
bearing: 285.233806 deg,
approach rate: -0.011334 m/s,
LOS rate: 0.233708 deg/s,
cmd heading: 291.875075 deg,
new cmd heading: 292.213930 deg.
2025-06-05T06:00:12.298Z,1749103212.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100095 target range: 148.361908 and range: 149.40 m.
2025-06-05T06:00:12.368Z,1749103212.368 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:12.368Z,1749103212.368 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:12.369Z,1749103212.369 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:12.619Z,1749103212.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.923506
2025-06-05T06:00:12.711Z,1749103212.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.36 m.
2025-06-05T06:00:12.714Z,1749103212.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.361908 m,
nav range: 146.988281 m,
bearing: 285.335347 deg,
approach rate: -0.007156 m/s,
LOS rate: 0.236907 deg/s,
cmd heading: 292.213934 deg,
new cmd heading: 292.518562 deg.
2025-06-05T06:00:12.719Z,1749103212.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.105412 target range: 148.361908 and range: 149.40 m.
2025-06-05T06:00:12.871Z,1749103212.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.175362
2025-06-05T06:00:13.065Z,1749103213.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.36 m.
2025-06-05T06:00:13.068Z,1749103213.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.361908 m,
nav range: 146.973892 m,
bearing: 285.416046 deg,
approach rate: -0.040600 m/s,
LOS rate: 0.227722 deg/s,
cmd heading: 292.518561 deg,
new cmd heading: 292.760679 deg.
2025-06-05T06:00:13.069Z,1749103213.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.109638 target range: 148.361908 and range: 149.40 m.
2025-06-05T06:00:13.123Z,1749103213.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.427589
2025-06-05T06:00:13.376Z,1749103213.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.680475
2025-06-05T06:00:13.523Z,1749103213.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.36 m.
2025-06-05T06:00:13.528Z,1749103213.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.361908 m,
nav range: 146.951096 m,
bearing: 285.523433 deg,
approach rate: -0.049891 m/s,
LOS rate: 0.235054 deg/s,
cmd heading: 292.760677 deg,
new cmd heading: 293.082885 deg.
2025-06-05T06:00:13.529Z,1749103213.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.115262 target range: 148.361908 and range: 149.40 m.
2025-06-05T06:00:13.629Z,1749103213.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.933243
2025-06-05T06:00:13.879Z,1749103213.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.183576
2025-06-05T06:00:13.880Z,1749103213.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.36 m.
2025-06-05T06:00:13.883Z,1749103213.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.361908 m,
nav range: 146.933945 m,
bearing: 285.605967 deg,
approach rate: -0.047912 m/s,
LOS rate: 0.230590 deg/s,
cmd heading: 293.082898 deg,
new cmd heading: 293.330527 deg.
2025-06-05T06:00:13.884Z,1749103213.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.119584 target range: 148.361908 and range: 149.40 m.
2025-06-05T06:00:14.132Z,1749103214.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.436427
2025-06-05T06:00:14.341Z,1749103214.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:14.344Z,1749103214.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.36 m.
2025-06-05T06:00:14.347Z,1749103214.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.361908 m,
nav range: 146.907928 m,
bearing: 285.708615 deg,
approach rate: -0.056069 m/s,
LOS rate: 0.221260 deg/s,
cmd heading: 293.330534 deg,
new cmd heading: 293.638527 deg.
2025-06-05T06:00:14.348Z,1749103214.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.124959 target range: 148.361908 and range: 149.40 m.
2025-06-05T06:00:14.383Z,1749103214.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687468
2025-06-05T06:00:14.636Z,1749103214.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.940340
2025-06-05T06:00:14.746Z,1749103214.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.36 m.
2025-06-05T06:00:14.753Z,1749103214.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.361908 m,
nav range: 146.879761 m,
bearing: 285.796246 deg,
approach rate: -0.070179 m/s,
LOS rate: 0.218372 deg/s,
cmd heading: 293.638520 deg,
new cmd heading: 293.901464 deg.
2025-06-05T06:00:14.760Z,1749103214.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129548 target range: 148.361908 and range: 149.40 m.
2025-06-05T06:00:14.888Z,1749103214.888 [DAT](INFO): DAT read: Rx Time:06:00:13.4233
2025-06-05T06:00:14.889Z,1749103214.889 [DAT](INFO): Rx dataTimestamp_ set to:1749103214.888525
2025-06-05T06:00:14.890Z,1749103214.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.194115
2025-06-05T06:00:15.116Z,1749103215.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.36 m.
2025-06-05T06:00:15.121Z,1749103215.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.361908 m,
nav range: 146.846436 m,
bearing: 285.881602 deg,
approach rate: -0.090088 m/s,
LOS rate: 0.230795 deg/s,
cmd heading: 293.901455 deg,
new cmd heading: 294.157580 deg.
2025-06-05T06:00:15.125Z,1749103215.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.134018 target range: 148.361908 and range: 149.40 m.
2025-06-05T06:00:15.140Z,1749103215.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.444158
2025-06-05T06:00:15.400Z,1749103215.400 [DAT](INFO): DAT read: 06:00:13.4233 LVL= 21792, 28385, 30018, 32755, AGC= 63, IDX= 418, 0.23, 0.870,-0.017,-1.196,-0.281, PHS= 1.239, 0.311,-0.918, RAW= 55.4, -6.8, CAL= 61.5, -12.7, ROT= 88.5, 12.7
2025-06-05T06:00:15.401Z,1749103215.401 [DAT](INFO): got valid direction response:
06:00:13.4233 LVL= 21792, 28385, 30018, 32755, AGC= 63, IDX= 418, 0.23, 0.870,-0.017,-1.196,-0.281, PHS= 1.239, 0.311,-0.918, RAW= 55.4, -6.8, CAL= 61.5, -12.7, ROT= 88.5, 12.7
2025-06-05T06:00:15.403Z,1749103215.403 [DAT](INFO): DAT read: Bearing 88.5, 12.7 (Local)
2025-06-05T06:00:15.403Z,1749103215.403 [DAT](INFO): Local bearing/azimuth received:
Bearing 88.5, 12.7 (Local)
2025-06-05T06:00:15.405Z,1749103215.405 [DAT](INFO): DAT read: Range 10 to 50 : 149.2 m (Round-trip 199.0 ms) speed 0.1 m/s
2025-06-05T06:00:15.405Z,1749103215.405 [DAT](INFO): DAT read: user:595>
2025-06-05T06:00:15.406Z,1749103215.406 [DAT](INFO): DAT read: Tx time:06:00:14.5202
2025-06-05T06:00:15.407Z,1749103215.407 [DAT](INFO): Ping request sent.
2025-06-05T06:00:15.407Z,1749103215.407 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:15.408Z,1749103215.408 [DAT](INFO): DAT read: TxSync time:06:00:14.5194
2025-06-05T06:00:15.410Z,1749103215.410 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:00:15.411Z,1749103215.411 [DAT](INFO): direction in FSK: [0.025537,0.975200,-0.219846]
2025-06-05T06:00:15.411Z,1749103215.411 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:15.411Z,1749103215.411 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:15.415Z,1749103215.415 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:15.415Z,1749103215.415 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:15.689Z,1749103215.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 149.199997 m,
deltaT: 3.780123 s,
deltaX: -0.199997 m,
approachRate: -0.052908 m/s,
rangeRepo size: 4
2025-06-05T06:00:15.697Z,1749103215.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 148.160767 m,
bearing: 297.355699 deg,
lat: 36.906219 deg,
lon: -122.116006 deg,
deltaT: 3.780123 s,
deltaX: -0.201141 m,
approachRate: -0.053210 m/s,
posRepo size: 4
2025-06-05T06:00:15.697Z,1749103215.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.16 m.
2025-06-05T06:00:15.704Z,1749103215.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.160767 m,
nav range: 147.665115 m,
bearing: 289.469118 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.230795 deg/s,
cmd heading: 294.157587 deg,
new cmd heading: 294.554490 deg.
2025-06-05T06:00:15.705Z,1749103215.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.140946 target range: 148.160767 and range: 149.20 m.
2025-06-05T06:00:16.043Z,1749103216.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.16 m.
2025-06-05T06:00:16.071Z,1749103216.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.160767 m,
nav range: 147.632767 m,
bearing: 289.548934 deg,
approach rate: -0.091237 m/s,
LOS rate: 0.225165 deg/s,
cmd heading: 294.554503 deg,
new cmd heading: 294.794003 deg.
2025-06-05T06:00:16.072Z,1749103216.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.145126 target range: 148.160767 and range: 149.20 m.
2025-06-05T06:00:16.469Z,1749103216.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:16.472Z,1749103216.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.16 m.
2025-06-05T06:00:16.477Z,1749103216.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.160767 m,
nav range: 147.583038 m,
bearing: 289.641265 deg,
approach rate: -0.116074 m/s,
LOS rate: 0.215588 deg/s,
cmd heading: 294.793997 deg,
new cmd heading: 295.071081 deg.
2025-06-05T06:00:16.478Z,1749103216.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.149962 target range: 148.160767 and range: 149.20 m.
2025-06-05T06:00:16.655Z,1749103216.655 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:16.655Z,1749103216.655 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:16.655Z,1749103216.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:16.892Z,1749103216.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.16 m.
2025-06-05T06:00:16.896Z,1749103216.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.160767 m,
nav range: 147.528519 m,
bearing: 289.730683 deg,
approach rate: -0.130038 m/s,
LOS rate: 0.213353 deg/s,
cmd heading: 295.071084 deg,
new cmd heading: 295.339433 deg.
2025-06-05T06:00:16.897Z,1749103216.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154645 target range: 148.160767 and range: 149.20 m.
2025-06-05T06:00:16.908Z,1749103216.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500708
2025-06-05T06:00:17.162Z,1749103217.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754450
2025-06-05T06:00:17.396Z,1749103217.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.16 m.
2025-06-05T06:00:17.399Z,1749103217.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.160767 m,
nav range: 147.446701 m,
bearing: 289.833746 deg,
approach rate: -0.162107 m/s,
LOS rate: 0.204315 deg/s,
cmd heading: 295.339429 deg,
new cmd heading: 295.648788 deg.
2025-06-05T06:00:17.400Z,1749103217.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160045 target range: 148.160767 and range: 149.20 m.
2025-06-05T06:00:17.411Z,1749103217.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004363
2025-06-05T06:00:17.665Z,1749103217.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258624
2025-06-05T06:00:17.753Z,1749103217.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.16 m.
2025-06-05T06:00:17.756Z,1749103217.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.160767 m,
nav range: 147.380142 m,
bearing: 289.910192 deg,
approach rate: -0.186224 m/s,
LOS rate: 0.213984 deg/s,
cmd heading: 295.648782 deg,
new cmd heading: 295.878222 deg.
2025-06-05T06:00:17.758Z,1749103217.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.164049 target range: 148.160767 and range: 149.20 m.
2025-06-05T06:00:17.915Z,1749103217.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508264
2025-06-05T06:00:18.167Z,1749103218.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760241
2025-06-05T06:00:18.184Z,1749103218.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.16 m.
2025-06-05T06:00:18.189Z,1749103218.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.160767 m,
nav range: 147.300598 m,
bearing: 289.994152 deg,
approach rate: -0.194557 m/s,
LOS rate: 0.205467 deg/s,
cmd heading: 295.878221 deg,
new cmd heading: 296.130233 deg.
2025-06-05T06:00:18.198Z,1749103218.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.168447 target range: 148.160767 and range: 149.20 m.
2025-06-05T06:00:18.419Z,1749103218.419 [DAT](INFO): DAT read: Rx Time:06:00:17.1229
2025-06-05T06:00:18.420Z,1749103218.420 [DAT](INFO): Rx dataTimestamp_ set to:1749103218.419535
2025-06-05T06:00:18.420Z,1749103218.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013559
2025-06-05T06:00:18.674Z,1749103218.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266544
2025-06-05T06:00:18.710Z,1749103218.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:18.713Z,1749103218.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.16 m.
2025-06-05T06:00:18.736Z,1749103218.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.160767 m,
nav range: 147.184326 m,
bearing: 290.108136 deg,
approach rate: -0.211232 m/s,
LOS rate: 0.207239 deg/s,
cmd heading: 296.130228 deg,
new cmd heading: 296.472446 deg.
2025-06-05T06:00:18.737Z,1749103218.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.174420 target range: 148.160767 and range: 149.20 m.
2025-06-05T06:00:18.897Z,1749103218.897 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:00:18.930Z,1749103218.930 [DAT](INFO): DAT read: 06:00:17.1229 LVL= 22832, 32753, 28722, 32755, AGC= 64, IDX= 430, 0.25, 2.375, 0.757, 0.456, 1.237, PHS= 1.226,-0.433,-0.784, RAW= 80.6, -0.1, CAL= 86.9, -4.5, ROT= 63.1, 4.5
2025-06-05T06:00:18.931Z,1749103218.931 [DAT](INFO): got valid direction response:
06:00:17.1229 LVL= 22832, 32753, 28722, 32755, AGC= 64, IDX= 430, 0.25, 2.375, 0.757, 0.456, 1.237, PHS= 1.226,-0.433,-0.784, RAW= 80.6, -0.1, CAL= 86.9, -4.5, ROT= 63.1, 4.5
2025-06-05T06:00:18.932Z,1749103218.932 [DAT](INFO): DAT read: Bearing 63.1, 4.5 (Local)
2025-06-05T06:00:18.933Z,1749103218.933 [DAT](INFO): Local bearing/azimuth received:
Bearing 63.1, 4.5 (Local)
2025-06-05T06:00:18.934Z,1749103218.934 [DAT](INFO): DAT read: Range 10 to 50 : 148.9 m (Round-trip 198.6 ms) speed 0.2 m/s
2025-06-05T06:00:18.935Z,1749103218.935 [DAT](INFO): DAT read: user:596>
2025-06-05T06:00:18.936Z,1749103218.936 [DAT](INFO): DAT read: Tx time:06:00:18.2202
2025-06-05T06:00:18.936Z,1749103218.936 [DAT](INFO): Ping request sent.
2025-06-05T06:00:18.936Z,1749103218.936 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:18.937Z,1749103218.937 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:00:18.937Z,1749103218.937 [DAT](INFO): direction in FSK: [0.451040,0.889048,-0.078459]
2025-06-05T06:00:18.938Z,1749103218.938 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:18.960Z,1749103218.960 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:18.968Z,1749103218.968 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:18.968Z,1749103218.968 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:19.175Z,1749103219.175 [DAT](INFO): DAT read: TxSync time:06:00:18.2194
2025-06-05T06:00:19.184Z,1749103219.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 148.899994 m,
deltaT: 3.531756 s,
deltaX: -0.300003 m,
approachRate: -0.084944 m/s,
rangeRepo size: 4
2025-06-05T06:00:19.190Z,1749103219.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 147.863586 m,
bearing: 284.696897 deg,
lat: 36.906140 deg,
lon: -122.116027 deg,
deltaT: 3.531756 s,
deltaX: -0.297180 m,
approachRate: -0.084145 m/s,
posRepo size: 4
2025-06-05T06:00:19.192Z,1749103219.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m.
2025-06-05T06:00:19.206Z,1749103219.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.863586 m,
nav range: 146.091949 m,
bearing: 286.722644 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.207239 deg/s,
cmd heading: 296.472448 deg,
new cmd heading: 296.765248 deg.
2025-06-05T06:00:19.207Z,1749103219.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.179531 target range: 147.863586 and range: 148.90 m.
2025-06-05T06:00:19.606Z,1749103219.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m.
2025-06-05T06:00:19.610Z,1749103219.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.863586 m,
nav range: 145.959747 m,
bearing: 286.813193 deg,
approach rate: -0.313105 m/s,
LOS rate: 0.214650 deg/s,
cmd heading: 296.765244 deg,
new cmd heading: 297.037137 deg.
2025-06-05T06:00:19.611Z,1749103219.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.184276 target range: 147.863586 and range: 148.90 m.
2025-06-05T06:00:19.899Z,1749103219.899 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:00:19.970Z,1749103219.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m.
2025-06-05T06:00:20.001Z,1749103220.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.863586 m,
nav range: 145.847076 m,
bearing: 286.885530 deg,
approach rate: -0.309560 m/s,
LOS rate: 0.198896 deg/s,
cmd heading: 297.037141 deg,
new cmd heading: 297.254317 deg.
2025-06-05T06:00:20.002Z,1749103220.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188066 target range: 147.863586 and range: 148.90 m.
2025-06-05T06:00:20.436Z,1749103220.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m.
2025-06-05T06:00:20.439Z,1749103220.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.863586 m,
nav range: 145.692505 m,
bearing: 286.978810 deg,
approach rate: -0.331638 m/s,
LOS rate: 0.200348 deg/s,
cmd heading: 297.254313 deg,
new cmd heading: 297.534449 deg.
2025-06-05T06:00:20.440Z,1749103220.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.192956 target range: 147.863586 and range: 148.90 m.
2025-06-05T06:00:20.820Z,1749103220.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:20.822Z,1749103220.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m.
2025-06-05T06:00:20.827Z,1749103220.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.863586 m,
nav range: 145.563599 m,
bearing: 287.052271 deg,
approach rate: -0.333714 m/s,
LOS rate: 0.190344 deg/s,
cmd heading: 297.534460 deg,
new cmd heading: 297.755036 deg.
2025-06-05T06:00:20.828Z,1749103220.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.196806 target range: 147.863586 and range: 148.90 m.
2025-06-05T06:00:20.940Z,1749103220.940 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:20.940Z,1749103220.940 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:20.940Z,1749103220.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:21.191Z,1749103221.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254908
2025-06-05T06:00:21.194Z,1749103221.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m.
2025-06-05T06:00:21.197Z,1749103221.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.863586 m,
nav range: 145.424042 m,
bearing: 287.127550 deg,
approach rate: -0.374971 m/s,
LOS rate: 0.202460 deg/s,
cmd heading: 297.755048 deg,
new cmd heading: 297.981101 deg.
2025-06-05T06:00:21.198Z,1749103221.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.200751 target range: 147.863586 and range: 148.90 m.
2025-06-05T06:00:21.444Z,1749103221.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507307
2025-06-05T06:00:21.630Z,1749103221.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m.
2025-06-05T06:00:21.633Z,1749103221.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.863586 m,
nav range: 145.257416 m,
bearing: 287.213664 deg,
approach rate: -0.382597 m/s,
LOS rate: 0.197956 deg/s,
cmd heading: 297.981100 deg,
new cmd heading: 298.239736 deg.
2025-06-05T06:00:21.634Z,1749103221.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205266 target range: 147.863586 and range: 148.90 m.
2025-06-05T06:00:21.695Z,1749103221.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759040
2025-06-05T06:00:21.947Z,1749103221.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010877
2025-06-05T06:00:21.000Z,1749103222.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m.
2025-06-05T06:00:22.020Z,1749103222.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.863586 m,
nav range: 145.110870 m,
bearing: 287.285598 deg,
approach rate: -0.395831 m/s,
LOS rate: 0.194497 deg/s,
cmd heading: 298.239746 deg,
new cmd heading: 298.455765 deg.
2025-06-05T06:00:22.021Z,1749103222.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.209036 target range: 147.863586 and range: 148.90 m.
2025-06-05T06:00:22.199Z,1749103222.199 [DAT](INFO): DAT read: Rx Time:06:00:20.8215
2025-06-05T06:00:22.200Z,1749103222.200 [DAT](INFO): Rx dataTimestamp_ set to:1749103222.199381
2025-06-05T06:00:22.200Z,1749103222.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263977
2025-06-05T06:00:22.451Z,1749103222.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515035
2025-06-05T06:00:22.462Z,1749103222.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m.
2025-06-05T06:00:22.464Z,1749103222.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.863586 m,
nav range: 144.923782 m,
bearing: 287.374749 deg,
approach rate: -0.405273 m/s,
LOS rate: 0.193370 deg/s,
cmd heading: 298.455771 deg,
new cmd heading: 298.723567 deg.
2025-06-05T06:00:22.465Z,1749103222.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.213710 target range: 147.863586 and range: 148.90 m.
2025-06-05T06:00:22.712Z,1749103222.712 [DAT](INFO): DAT read: 06:00:20.8215 LVL= 21344, 32753, 27042, 32755, AGC= 63, IDX= 432, 0.04,-0.623,-2.316,-2.071,-1.477, PHS= 0.942,-0.792,-0.597, RAW= 95.9, 5.5, CAL= 104.8, 4.2, ROT= 45.2, -4.2
2025-06-05T06:00:22.713Z,1749103222.713 [DAT](INFO): got valid direction response:
06:00:20.8215 LVL= 21344, 32753, 27042, 32755, AGC= 63, IDX= 432, 0.04,-0.623,-2.316,-2.071,-1.477, PHS= 0.942,-0.792,-0.597, RAW= 95.9, 5.5, CAL= 104.8, 4.2, ROT= 45.2, -4.2
2025-06-05T06:00:22.720Z,1749103222.720 [DAT](INFO): DAT read: Bearing 45.2, -4.2 (Local)
2025-06-05T06:00:22.721Z,1749103222.721 [DAT](INFO): Local bearing/azimuth received:
Bearing 45.2, -4.2 (Local)
2025-06-05T06:00:22.731Z,1749103222.731 [DAT](INFO): DAT read: Range 10 to 50 : 147.9 m (Round-trip 197.2 ms) speed 0.2 m/s
2025-06-05T06:00:22.731Z,1749103222.731 [DAT](INFO): DAT read: user:597>
2025-06-05T06:00:22.732Z,1749103222.732 [DAT](INFO): DAT read: Tx time:06:00:21.9202
2025-06-05T06:00:22.733Z,1749103222.733 [DAT](INFO): Ping request sent.
2025-06-05T06:00:22.733Z,1749103222.733 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:22.733Z,1749103222.733 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:00:22.760Z,1749103222.760 [DAT](INFO): direction in FSK: [0.702742,0.707665,0.073238]
2025-06-05T06:00:22.760Z,1749103222.760 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:22.760Z,1749103222.760 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:22.795Z,1749103222.795 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:22.796Z,1749103222.796 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:22.896Z,1749103222.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 147.899994 m,
deltaT: 3.780488 s,
deltaX: -1.000000 m,
approachRate: -0.264516 m/s,
rangeRepo size: 4
2025-06-05T06:00:22.906Z,1749103222.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 146.868011 m,
bearing: 281.173025 deg,
lat: 36.906094 deg,
lon: -122.116028 deg,
deltaT: 3.780488 s,
deltaX: -0.995575 m,
approachRate: -0.263346 m/s,
posRepo size: 4
2025-06-05T06:00:22.908Z,1749103222.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.87 m.
2025-06-05T06:00:22.916Z,1749103222.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.868011 m,
nav range: 143.316818 m,
bearing: 285.494769 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.193370 deg/s,
cmd heading: 298.723569 deg,
new cmd heading: 298.971808 deg.
2025-06-05T06:00:22.917Z,1749103222.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.218042 target range: 146.868011 and range: 147.90 m.
2025-06-05T06:00:22.955Z,1749103222.955 [DAT](INFO): DAT read: TxSync time:06:00:21.9194
2025-06-05T06:00:23.275Z,1749103223.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:23.284Z,1749103223.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.87 m.
2025-06-05T06:00:23.291Z,1749103223.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.868011 m,
nav range: 143.141418 m,
bearing: 285.566257 deg,
approach rate: -0.444531 m/s,
LOS rate: 0.181400 deg/s,
cmd heading: 298.971805 deg,
new cmd heading: 299.186531 deg.
2025-06-05T06:00:23.292Z,1749103223.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.221790 target range: 146.868011 and range: 147.90 m.
2025-06-05T06:00:23.464Z,1749103223.464 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:23.464Z,1749103223.464 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:23.465Z,1749103223.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:23.715Z,1749103223.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982612
2025-06-05T06:00:23.801Z,1749103223.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.87 m.
2025-06-05T06:00:23.810Z,1749103223.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.868011 m,
nav range: 142.900208 m,
bearing: 285.663817 deg,
approach rate: -0.467010 m/s,
LOS rate: 0.189204 deg/s,
cmd heading: 299.186519 deg,
new cmd heading: 299.479689 deg.
2025-06-05T06:00:23.815Z,1749103223.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.226907 target range: 146.868011 and range: 147.90 m.
2025-06-05T06:00:23.967Z,1749103223.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234430
2025-06-05T06:00:24.145Z,1749103224.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.87 m.
2025-06-05T06:00:24.152Z,1749103224.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.868011 m,
nav range: 142.746780 m,
bearing: 285.723062 deg,
approach rate: -0.446041 m/s,
LOS rate: 0.172422 deg/s,
cmd heading: 299.479698 deg,
new cmd heading: 299.657625 deg.
2025-06-05T06:00:24.153Z,1749103224.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.230012 target range: 146.868011 and range: 147.90 m.
2025-06-05T06:00:24.220Z,1749103224.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487350
2025-06-05T06:00:24.471Z,1749103224.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738620
2025-06-05T06:00:24.566Z,1749103224.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.87 m.
2025-06-05T06:00:24.569Z,1749103224.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.868011 m,
nav range: 142.539902 m,
bearing: 285.799743 deg,
approach rate: -0.490828 m/s,
LOS rate: 0.182191 deg/s,
cmd heading: 299.657638 deg,
new cmd heading: 299.888012 deg.
2025-06-05T06:00:24.570Z,1749103224.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.234033 target range: 146.868011 and range: 147.90 m.
2025-06-05T06:00:24.723Z,1749103224.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990518
2025-06-05T06:00:24.943Z,1749103224.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.87 m.
2025-06-05T06:00:24.947Z,1749103224.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.868011 m,
nav range: 142.358246 m,
bearing: 285.863467 deg,
approach rate: -0.481487 m/s,
LOS rate: 0.169119 deg/s,
cmd heading: 299.888007 deg,
new cmd heading: 300.079422 deg.
2025-06-05T06:00:24.948Z,1749103224.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.237374 target range: 146.868011 and range: 147.90 m.
2025-06-05T06:00:24.977Z,1749103224.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243870
2025-06-05T06:00:25.227Z,1749103225.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494827
2025-06-05T06:00:25.431Z,1749103225.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:25.433Z,1749103225.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.87 m.
2025-06-05T06:00:25.440Z,1749103225.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.868011 m,
nav range: 142.149124 m,
bearing: 285.932969 deg,
approach rate: -0.427324 m/s,
LOS rate: 0.142232 deg/s,
cmd heading: 300.079416 deg,
new cmd heading: 300.288229 deg.
2025-06-05T06:00:25.441Z,1749103225.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.241018 target range: 146.868011 and range: 147.90 m.
2025-06-05T06:00:25.479Z,1749103225.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746696
2025-06-05T06:00:25.732Z,1749103225.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999458
2025-06-05T06:00:25.823Z,1749103225.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.87 m.
2025-06-05T06:00:25.827Z,1749103225.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.868011 m,
nav range: 141.929718 m,
bearing: 286.006143 deg,
approach rate: -0.563292 m/s,
LOS rate: 0.188154 deg/s,
cmd heading: 300.288229 deg,
new cmd heading: 300.508089 deg.
2025-06-05T06:00:25.828Z,1749103225.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.244855 target range: 146.868011 and range: 147.90 m.
2025-06-05T06:00:25.983Z,1749103225.983 [DAT](INFO): DAT read: Rx Time:06:00:24.5193
2025-06-05T06:00:25.984Z,1749103225.984 [DAT](INFO): Rx dataTimestamp_ set to:1749103225.983519
2025-06-05T06:00:25.984Z,1749103225.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251732
2025-06-05T06:00:26.130Z,1749103226.130 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-05T06:00:26.207Z,1749103226.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.87 m.
2025-06-05T06:00:26.217Z,1749103226.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.868011 m,
nav range: 141.741608 m,
bearing: 286.062039 deg,
approach rate: -0.488826 m/s,
LOS rate: 0.145445 deg/s,
cmd heading: 300.508079 deg,
new cmd heading: 300.675990 deg.
2025-06-05T06:00:26.218Z,1749103226.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.247786 target range: 146.868011 and range: 147.90 m.
2025-06-05T06:00:26.235Z,1749103226.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502585
2025-06-05T06:00:26.498Z,1749103226.498 [DAT](INFO): DAT read: 06:00:24.5194 LVL= 32752, 32753, 30002, 32755, AGC= 66, IDX= 426,-0.43,-1.718, 2.934,-2.780,-2.391, PHS= 0.761,-0.911,-0.392, RAW= 107.7, 7.4, CAL= 117.8, 5.1, ROT= 32.2, -5.1
2025-06-05T06:00:26.500Z,1749103226.500 [DAT](INFO): got valid direction response:
06:00:24.5194 LVL= 32752, 32753, 30002, 32755, AGC= 66, IDX= 426,-0.43,-1.718, 2.934,-2.780,-2.391, PHS= 0.761,-0.911,-0.392, RAW= 107.7, 7.4, CAL= 117.8, 5.1, ROT= 32.2, -5.1
2025-06-05T06:00:26.501Z,1749103226.501 [DAT](INFO): DAT read: Bearing 32.2, -5.1 (Local)
2025-06-05T06:00:26.501Z,1749103226.501 [DAT](INFO): Local bearing/azimuth received:
Bearing 32.2, -5.1 (Local)
2025-06-05T06:00:26.532Z,1749103226.532 [DAT](INFO): DAT read: Range 10 to 50 : 146.2 m (Round-trip 195.0 ms) speed 0.3 m/s
2025-06-05T06:00:26.533Z,1749103226.533 [DAT](INFO): DAT read: user:598>
2025-06-05T06:00:26.533Z,1749103226.533 [DAT](INFO): DAT read: Tx time:06:00:25.6203
2025-06-05T06:00:26.534Z,1749103226.534 [DAT](INFO): Ping request sent.
2025-06-05T06:00:26.534Z,1749103226.534 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:26.543Z,1749103226.543 [DAT](INFO): DAT read: TxSync time:06:00:25.6195
2025-06-05T06:00:26.544Z,1749103226.544 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:00:26.545Z,1749103226.545 [DAT](INFO): direction in FSK: [0.842843,0.530767,0.088894]
2025-06-05T06:00:26.545Z,1749103226.545 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:26.545Z,1749103226.545 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:26.557Z,1749103226.557 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:26.557Z,1749103226.557 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:26.765Z,1749103226.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 146.199997 m,
deltaT: 3.784145 s,
deltaX: -1.699997 m,
approachRate: -0.449242 m/s,
rangeRepo size: 4
2025-06-05T06:00:26.776Z,1749103226.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 145.169571 m,
bearing: 283.746064 deg,
lat: 36.906094 deg,
lon: -122.116028 deg,
deltaT: 3.784145 s,
deltaX: -1.698441 m,
approachRate: -0.448831 m/s,
posRepo size: 4
2025-06-05T06:00:26.777Z,1749103226.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.17 m.
2025-06-05T06:00:26.780Z,1749103226.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.169571 m,
nav range: 141.461426 m,
bearing: 286.131799 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.145445 deg/s,
cmd heading: 300.675992 deg,
new cmd heading: 300.918102 deg.
2025-06-05T06:00:26.781Z,1749103226.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.252012 target range: 145.169571 and range: 146.20 m.
2025-06-05T06:00:27.096Z,1749103227.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.17 m.
2025-06-05T06:00:27.099Z,1749103227.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.169571 m,
nav range: 141.269012 m,
bearing: 286.177245 deg,
approach rate: -0.576248 m/s,
LOS rate: 0.136288 deg/s,
cmd heading: 300.918109 deg,
new cmd heading: 301.054631 deg.
2025-06-05T06:00:27.100Z,1749103227.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.254395 target range: 145.169571 and range: 146.20 m.
2025-06-05T06:00:27.548Z,1749103227.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:27.567Z,1749103227.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.17 m.
2025-06-05T06:00:27.574Z,1749103227.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.169571 m,
nav range: 141.028488 m,
bearing: 286.233249 deg,
approach rate: -0.529117 m/s,
LOS rate: 0.123411 deg/s,
cmd heading: 301.054631 deg,
new cmd heading: 301.222930 deg.
2025-06-05T06:00:27.577Z,1749103227.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.257332 target range: 145.169571 and range: 146.20 m.
2025-06-05T06:00:27.747Z,1749103227.747 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:27.747Z,1749103227.747 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:27.747Z,1749103227.747 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:27.901Z,1749103227.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.17 m.
2025-06-05T06:00:27.904Z,1749103227.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.169571 m,
nav range: 140.839417 m,
bearing: 286.274504 deg,
approach rate: -0.539073 m/s,
LOS rate: 0.117782 deg/s,
cmd heading: 301.222926 deg,
new cmd heading: 301.346857 deg.
2025-06-05T06:00:27.905Z,1749103227.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.259495 target range: 145.169571 and range: 146.20 m.
2025-06-05T06:00:27.999Z,1749103227.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465615
2025-06-05T06:00:28.251Z,1749103228.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717549
2025-06-05T06:00:28.306Z,1749103228.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.17 m.
2025-06-05T06:00:28.309Z,1749103228.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.169571 m,
nav range: 140.618210 m,
bearing: 286.319530 deg,
approach rate: -0.546044 m/s,
LOS rate: 0.111320 deg/s,
cmd heading: 301.346853 deg,
new cmd heading: 301.482143 deg.
2025-06-05T06:00:28.310Z,1749103228.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.261856 target range: 145.169571 and range: 146.20 m.
2025-06-05T06:00:28.504Z,1749103228.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969972
2025-06-05T06:00:28.752Z,1749103228.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.17 m.
2025-06-05T06:00:28.755Z,1749103228.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221400
2025-06-05T06:00:28.767Z,1749103228.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.169571 m,
nav range: 140.366516 m,
bearing: 286.359514 deg,
approach rate: -0.564403 m/s,
LOS rate: 0.089822 deg/s,
cmd heading: 301.482146 deg,
new cmd heading: 301.602313 deg.
2025-06-05T06:00:28.768Z,1749103228.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.263953 target range: 145.169571 and range: 146.20 m.
2025-06-05T06:00:29.009Z,1749103229.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474944
2025-06-05T06:00:29.114Z,1749103229.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.17 m.
2025-06-05T06:00:29.117Z,1749103229.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.169571 m,
nav range: 140.160141 m,
bearing: 286.389706 deg,
approach rate: -0.570338 m/s,
LOS rate: 0.083562 deg/s,
cmd heading: 301.602302 deg,
new cmd heading: 301.693012 deg.
2025-06-05T06:00:29.118Z,1749103229.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.265536 target range: 145.169571 and range: 146.20 m.
2025-06-05T06:00:29.261Z,1749103229.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727015
2025-06-05T06:00:29.512Z,1749103229.512 [DAT](INFO): DAT read: Rx Time:06:00:28.2173
2025-06-05T06:00:29.513Z,1749103229.513 [DAT](INFO): Rx dataTimestamp_ set to:1749103229.512208
2025-06-05T06:00:29.513Z,1749103229.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979649
2025-06-05T06:00:29.597Z,1749103229.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:29.599Z,1749103229.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.17 m.
2025-06-05T06:00:29.602Z,1749103229.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.169571 m,
nav range: 139.881134 m,
bearing: 286.425576 deg,
approach rate: -0.575095 m/s,
LOS rate: 0.074084 deg/s,
cmd heading: 301.693007 deg,
new cmd heading: 301.800833 deg.
2025-06-05T06:00:29.603Z,1749103229.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.267418 target range: 145.169571 and range: 146.20 m.
2025-06-05T06:00:29.764Z,1749103229.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229847
2025-06-05T06:00:29.996Z,1749103229.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.17 m.
2025-06-05T06:00:30.007Z,1749103230.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.169571 m,
nav range: 139.690720 m,
bearing: 286.447753 deg,
approach rate: -0.480159 m/s,
LOS rate: 0.055997 deg/s,
cmd heading: 301.800842 deg,
new cmd heading: 301.867461 deg.
2025-06-05T06:00:30.010Z,1749103230.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.268581 target range: 145.169571 and range: 146.20 m.
2025-06-05T06:00:30.021Z,1749103230.021 [DAT](INFO): DAT read: 06:00:28.2173 LVL= 29648, 32753, 27810, 32755, AGC= 65, IDX= 419, 0.28, 1.665, 0.012, 0.744, 0.874, PHS= 0.880,-0.815,-0.132, RAW= 113.6, 0.9, CAL= 122.8, -4.8, ROT= 27.2, 4.8
2025-06-05T06:00:30.022Z,1749103230.022 [DAT](INFO): got valid direction response:
06:00:28.2173 LVL= 29648, 32753, 27810, 32755, AGC= 65, IDX= 419, 0.28, 1.665, 0.012, 0.744, 0.874, PHS= 0.880,-0.815,-0.132, RAW= 113.6, 0.9, CAL= 122.8, -4.8, ROT= 27.2, 4.8
2025-06-05T06:00:30.023Z,1749103230.023 [DAT](INFO): DAT read: Bearing 27.2, 4.8 (Local)
2025-06-05T06:00:30.024Z,1749103230.024 [DAT](INFO): Local bearing/azimuth received:
Bearing 27.2, 4.8 (Local)
2025-06-05T06:00:30.027Z,1749103230.027 [DAT](INFO): DAT read: Range 10 to 50 : 144.6 m (Round-trip 192.9 ms) speed 0.8 m/s
2025-06-05T06:00:30.028Z,1749103230.028 [DAT](INFO): DAT read: user:599>
2025-06-05T06:00:30.029Z,1749103230.029 [DAT](INFO): DAT read: Tx time:06:00:29.3203
2025-06-05T06:00:30.029Z,1749103230.029 [DAT](INFO): Ping request sent.
2025-06-05T06:00:30.029Z,1749103230.029 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:30.029Z,1749103230.029 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:00:30.035Z,1749103230.035 [DAT](INFO): direction in FSK: [0.886297,0.455495,-0.083678]
2025-06-05T06:00:30.035Z,1749103230.035 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:30.035Z,1749103230.035 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:30.051Z,1749103230.051 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:30.051Z,1749103230.051 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:30.270Z,1749103230.270 [DAT](INFO): DAT read: TxSync time:06:00:29.3195
2025-06-05T06:00:30.545Z,1749103230.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 144.600006 m,
deltaT: 3.527810 s,
deltaX: -1.599991 m,
approachRate: -0.453537 m/s,
rangeRepo size: 4
2025-06-05T06:00:30.548Z,1749103230.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 143.578476 m,
bearing: 295.458539 deg,
lat: 36.906094 deg,
lon: -122.116028 deg,
deltaT: 3.527810 s,
deltaX: -1.591095 m,
approachRate: -0.451015 m/s,
posRepo size: 4
2025-06-05T06:00:30.548Z,1749103230.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:30.551Z,1749103230.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 139.346069 m,
bearing: 286.483864 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.055997 deg/s,
cmd heading: 301.867450 deg,
new cmd heading: 301.959694 deg.
2025-06-05T06:00:30.552Z,1749103230.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.270191 target range: 143.578476 and range: 144.60 m.
2025-06-05T06:00:30.932Z,1749103230.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:30.939Z,1749103230.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 139.114914 m,
bearing: 286.507473 deg,
approach rate: -0.597653 m/s,
LOS rate: 0.061142 deg/s,
cmd heading: 301.959685 deg,
new cmd heading: 302.030629 deg.
2025-06-05T06:00:30.940Z,1749103230.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271429 target range: 143.578476 and range: 144.60 m.
2025-06-05T06:00:31.270Z,1749103231.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:31.273Z,1749103231.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 138.903809 m,
bearing: 286.526708 deg,
approach rate: -0.624240 m/s,
LOS rate: 0.056964 deg/s,
cmd heading: 302.030637 deg,
new cmd heading: 302.088429 deg.
2025-06-05T06:00:31.294Z,1749103231.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272438 target range: 143.578476 and range: 144.60 m.
2025-06-05T06:00:31.705Z,1749103231.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:31.710Z,1749103231.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:31.716Z,1749103231.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 138.647919 m,
bearing: 286.547899 deg,
approach rate: -0.583068 m/s,
LOS rate: 0.048375 deg/s,
cmd heading: 302.088421 deg,
new cmd heading: 302.152111 deg.
2025-06-05T06:00:31.717Z,1749103231.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273549 target range: 143.578476 and range: 144.60 m.
2025-06-05T06:00:31.783Z,1749103231.783 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:31.783Z,1749103231.783 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:31.783Z,1749103231.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:32.035Z,1749103232.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006324
2025-06-05T06:00:32.071Z,1749103232.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:32.079Z,1749103232.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 138.442291 m,
bearing: 286.562537 deg,
approach rate: -0.566698 m/s,
LOS rate: 0.040401 deg/s,
cmd heading: 302.152105 deg,
new cmd heading: 302.196084 deg.
2025-06-05T06:00:32.080Z,1749103232.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.274317 target range: 143.578476 and range: 144.60 m.
2025-06-05T06:00:32.287Z,1749103232.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258062
2025-06-05T06:00:32.455Z,1749103232.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:32.463Z,1749103232.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 138.200348 m,
bearing: 286.576863 deg,
approach rate: -0.632700 m/s,
LOS rate: 0.037531 deg/s,
cmd heading: 302.196092 deg,
new cmd heading: 302.239147 deg.
2025-06-05T06:00:32.466Z,1749103232.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275068 target range: 143.578476 and range: 144.60 m.
2025-06-05T06:00:32.543Z,1749103232.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513375
2025-06-05T06:00:32.792Z,1749103232.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762792
2025-06-05T06:00:32.922Z,1749103232.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:32.929Z,1749103232.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 137.924744 m,
bearing: 286.596345 deg,
approach rate: -0.589078 m/s,
LOS rate: 0.041722 deg/s,
cmd heading: 302.239149 deg,
new cmd heading: 302.297709 deg.
2025-06-05T06:00:32.934Z,1749103232.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.276090 target range: 143.578476 and range: 144.60 m.
2025-06-05T06:00:33.044Z,1749103233.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015045
2025-06-05T06:00:33.256Z,1749103233.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:33.261Z,1749103233.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 137.717453 m,
bearing: 286.605935 deg,
approach rate: -0.620326 m/s,
LOS rate: 0.028743 deg/s,
cmd heading: 302.297698 deg,
new cmd heading: 302.326512 deg.
2025-06-05T06:00:33.262Z,1749103233.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.276593 target range: 143.578476 and range: 144.60 m.
2025-06-05T06:00:33.295Z,1749103233.295 [DAT](INFO): DAT read: Rx Time:06:00:31.9420
2025-06-05T06:00:33.296Z,1749103233.296 [DAT](INFO): Rx dataTimestamp_ set to:1749103233.295397
2025-06-05T06:00:33.296Z,1749103233.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267148
2025-06-05T06:00:33.549Z,1749103233.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519124
2025-06-05T06:00:33.751Z,1749103233.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:33.753Z,1749103233.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:33.768Z,1749103233.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 137.421432 m,
bearing: 286.616165 deg,
approach rate: -0.595219 m/s,
LOS rate: 0.020615 deg/s,
cmd heading: 302.326521 deg,
new cmd heading: 302.357278 deg.
2025-06-05T06:00:33.782Z,1749103233.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277130 target range: 143.578476 and range: 144.60 m.
2025-06-05T06:00:33.800Z,1749103233.800 [DAT](INFO): DAT read: Range 10 to 50 : 163.2 m (Round-trip 217.6 ms) speed 0.4 m/s
2025-06-05T06:00:33.801Z,1749103233.801 [DAT](INFO): DAT read: user:600>
2025-06-05T06:00:33.802Z,1749103233.802 [DAT](INFO): DAT read: Tx time:06:00:33.0203
2025-06-05T06:00:33.802Z,1749103233.802 [DAT](INFO): Ping request sent.
2025-06-05T06:00:33.802Z,1749103233.802 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:33.802Z,1749103233.802 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T06:00:33.803Z,1749103233.803 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:33.803Z,1749103233.803 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:34.051Z,1749103234.051 [DAT](INFO): DAT read: TxSync time:06:00:33.0195
2025-06-05T06:00:34.098Z,1749103234.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 163.199997 m,
deltaT: 3.783712 s,
deltaX: 18.599991 m,
approachRate: 4.915805 m/s,
rangeRepo size: 4
2025-06-05T06:00:34.099Z,1749103234.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:34.101Z,1749103234.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 137.208710 m,
bearing: 286.623544 deg,
approach rate: -0.619048 m/s,
LOS rate: 0.021506 deg/s,
cmd heading: 302.357284 deg,
new cmd heading: 302.379455 deg.
2025-06-05T06:00:34.103Z,1749103234.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277517 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:34.596Z,1749103234.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:34.606Z,1749103234.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 136.937012 m,
bearing: 286.626869 deg,
approach rate: -0.546257 m/s,
LOS rate: 0.006697 deg/s,
cmd heading: 302.379441 deg,
new cmd heading: 302.389435 deg.
2025-06-05T06:00:34.609Z,1749103234.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277691 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:34.981Z,1749103234.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:34.984Z,1749103234.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 136.667496 m,
bearing: 286.629233 deg,
approach rate: -0.696269 m/s,
LOS rate: 0.006121 deg/s,
cmd heading: 302.389441 deg,
new cmd heading: 302.396549 deg.
2025-06-05T06:00:34.985Z,1749103234.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277815 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:35.383Z,1749103235.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:35.385Z,1749103235.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 136.434067 m,
bearing: 286.628530 deg,
approach rate: -0.581520 m/s,
LOS rate: -0.001756 deg/s,
cmd heading: 302.396544 deg,
new cmd heading: 302.394430 deg.
2025-06-05T06:00:35.391Z,1749103235.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277779 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:35.813Z,1749103235.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:35.815Z,1749103235.815 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:35.815Z,1749103235.815 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:35.815Z,1749103235.815 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:35.839Z,1749103235.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:35.847Z,1749103235.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 136.150360 m,
bearing: 286.626987 deg,
approach rate: -0.621501 m/s,
LOS rate: -0.003387 deg/s,
cmd heading: 302.394440 deg,
new cmd heading: 302.389802 deg.
2025-06-05T06:00:35.848Z,1749103235.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277698 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:36.067Z,1749103236.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265474
2025-06-05T06:00:36.171Z,1749103236.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:36.173Z,1749103236.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 135.922516 m,
bearing: 286.623158 deg,
approach rate: -0.687464 m/s,
LOS rate: -0.011572 deg/s,
cmd heading: 302.389796 deg,
new cmd heading: 302.378290 deg.
2025-06-05T06:00:36.176Z,1749103236.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277497 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:36.319Z,1749103236.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517144
2025-06-05T06:00:36.575Z,1749103236.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772823
2025-06-05T06:00:36.672Z,1749103236.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:36.675Z,1749103236.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 135.589798 m,
bearing: 286.615152 deg,
approach rate: -0.664295 m/s,
LOS rate: -0.016024 deg/s,
cmd heading: 302.378294 deg,
new cmd heading: 302.354216 deg.
2025-06-05T06:00:36.677Z,1749103236.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277077 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:36.823Z,1749103236.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021068
2025-06-05T06:00:36.991Z,1749103236.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:37.015Z,1749103237.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 135.378479 m,
bearing: 286.607949 deg,
approach rate: -0.662295 m/s,
LOS rate: -0.022608 deg/s,
cmd heading: 302.354224 deg,
new cmd heading: 302.332584 deg.
2025-06-05T06:00:37.016Z,1749103237.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.276699 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:37.077Z,1749103237.077 [DAT](INFO): DAT read: Rx Time:06:00:35.6676
2025-06-05T06:00:37.077Z,1749103237.077 [DAT](INFO): Rx dataTimestamp_ set to:1749103237.077158
2025-06-05T06:00:37.078Z,1749103237.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275983
2025-06-05T06:00:37.328Z,1749103237.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525619
2025-06-05T06:00:37.373Z,1749103237.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:37.379Z,1749103237.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 135.125153 m,
bearing: 286.596946 deg,
approach rate: -0.661611 m/s,
LOS rate: -0.028790 deg/s,
cmd heading: 302.332586 deg,
new cmd heading: 302.299515 deg.
2025-06-05T06:00:37.380Z,1749103237.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.276122 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:37.601Z,1749103237.601 [DAT](INFO): DAT read: 06:00:35.6676 LVL= 19952, 25041, 16370, 22355, AGC= 65, IDX= 198, 0.18,-0.559,-1.373,-0.124,-1.459, PHS= 0.988, 0.133, 1.332, RAW= 166.2, -39.0, CAL= 167.4, -43.2, ROT= 342.6, 43.2
2025-06-05T06:00:37.612Z,1749103237.612 [DAT](INFO): got valid direction response:
06:00:35.6676 LVL= 19952, 25041, 16370, 22355, AGC= 65, IDX= 198, 0.18,-0.559,-1.373,-0.124,-1.459, PHS= 0.988, 0.133, 1.332, RAW= 166.2, -39.0, CAL= 167.4, -43.2, ROT= 342.6, 43.2
2025-06-05T06:00:37.615Z,1749103237.615 [DAT](INFO): DAT read: Bearing 342.6, 43.2 (Local)
2025-06-05T06:00:37.616Z,1749103237.616 [DAT](INFO): Local bearing/azimuth received:
Bearing 342.6, 43.2 (Local)
2025-06-05T06:00:37.647Z,1749103237.647 [DAT](INFO): DAT read: Range 10 to 50 : 182.4 m (Round-trip 243.2 ms) speed 0.2 m/s
2025-06-05T06:00:37.648Z,1749103237.648 [DAT](INFO): DAT read: user:601>
2025-06-05T06:00:37.648Z,1749103237.648 [DAT](INFO): DAT read: Tx time:06:00:36.7703
2025-06-05T06:00:37.649Z,1749103237.649 [DAT](INFO): Ping request sent.
2025-06-05T06:00:37.649Z,1749103237.649 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:37.649Z,1749103237.649 [DAT](INFO): DAT read: TxSync time:06:00:36.7695
2025-06-05T06:00:37.650Z,1749103237.650 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:00:37.655Z,1749103237.655 [DAT](INFO): direction in FSK: [0.695611,-0.217991,-0.684547]
2025-06-05T06:00:37.655Z,1749103237.655 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:37.655Z,1749103237.655 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:37.663Z,1749103237.663 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:37.664Z,1749103237.664 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:37.880Z,1749103237.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 182.399994 m,
deltaT: 3.781187 s,
deltaX: 19.199997 m,
approachRate: 5.077770 m/s,
rangeRepo size: 4
2025-06-05T06:00:37.880Z,1749103237.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:37.884Z,1749103237.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 134.808716 m,
bearing: 286.581484 deg,
approach rate: -0.626035 m/s,
LOS rate: -0.030662 deg/s,
cmd heading: 302.299528 deg,
new cmd heading: 302.253033 deg.
2025-06-05T06:00:37.885Z,1749103237.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275311 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:38.188Z,1749103238.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:38.190Z,1749103238.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:38.195Z,1749103238.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 134.581192 m,
bearing: 286.568800 deg,
approach rate: -0.732125 m/s,
LOS rate: -0.040884 deg/s,
cmd heading: 302.253028 deg,
new cmd heading: 302.214911 deg.
2025-06-05T06:00:38.196Z,1749103238.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.274645 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:38.335Z,1749103238.335 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:38.335Z,1749103238.335 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:38.335Z,1749103238.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:38.591Z,1749103238.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.941743
2025-06-05T06:00:38.686Z,1749103238.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:38.699Z,1749103238.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 134.254807 m,
bearing: 286.548475 deg,
approach rate: -0.658034 m/s,
LOS rate: -0.041077 deg/s,
cmd heading: 302.214916 deg,
new cmd heading: 302.153793 deg.
2025-06-05T06:00:38.700Z,1749103238.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273579 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:38.840Z,1749103238.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.191186
2025-06-05T06:00:39.028Z,1749103239.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:39.031Z,1749103239.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 134.025299 m,
bearing: 286.531115 deg,
approach rate: -0.669977 m/s,
LOS rate: -0.050763 deg/s,
cmd heading: 302.153799 deg,
new cmd heading: 302.101631 deg.
2025-06-05T06:00:39.032Z,1749103239.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272668 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:39.093Z,1749103239.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.444607
2025-06-05T06:00:39.344Z,1749103239.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695272
2025-06-05T06:00:39.431Z,1749103239.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:39.438Z,1749103239.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 133.780807 m,
bearing: 286.511272 deg,
approach rate: -0.606754 m/s,
LOS rate: -0.049336 deg/s,
cmd heading: 302.101644 deg,
new cmd heading: 302.042004 deg.
2025-06-05T06:00:39.439Z,1749103239.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271627 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:39.599Z,1749103239.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.949869
2025-06-05T06:00:39.847Z,1749103239.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198499
2025-06-05T06:00:39.933Z,1749103239.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:39.936Z,1749103239.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 133.429062 m,
bearing: 286.479955 deg,
approach rate: -0.700338 m/s,
LOS rate: -0.062518 deg/s,
cmd heading: 302.042003 deg,
new cmd heading: 301.947804 deg.
2025-06-05T06:00:39.937Z,1749103239.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.269983 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:40.100Z,1749103240.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450691
2025-06-05T06:00:40.282Z,1749103240.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:40.284Z,1749103240.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:40.287Z,1749103240.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 133.200287 m,
bearing: 286.457813 deg,
approach rate: -0.652320 m/s,
LOS rate: -0.063242 deg/s,
cmd heading: 301.947801 deg,
new cmd heading: 301.881261 deg.
2025-06-05T06:00:40.288Z,1749103240.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.268822 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:40.351Z,1749103240.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702720
2025-06-05T06:00:40.607Z,1749103240.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.956800
2025-06-05T06:00:40.752Z,1749103240.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:40.761Z,1749103240.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 132.894821 m,
bearing: 286.422658 deg,
approach rate: -0.652632 m/s,
LOS rate: -0.075282 deg/s,
cmd heading: 301.881275 deg,
new cmd heading: 301.775567 deg.
2025-06-05T06:00:40.762Z,1749103240.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.266977 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:40.855Z,1749103240.855 [DAT](INFO): DAT read: Rx Time:06:00:39.4158
2025-06-05T06:00:40.856Z,1749103240.856 [DAT](INFO): Rx dataTimestamp_ set to:1749103240.855495
2025-06-05T06:00:40.856Z,1749103240.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207569
2025-06-05T06:00:41.108Z,1749103241.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458390
2025-06-05T06:00:41.202Z,1749103241.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.58 m.
2025-06-05T06:00:41.215Z,1749103241.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.578476 m,
nav range: 132.632935 m,
bearing: 286.391217 deg,
approach rate: -0.582682 m/s,
LOS rate: -0.070091 deg/s,
cmd heading: 301.775571 deg,
new cmd heading: 301.681063 deg.
2025-06-05T06:00:41.216Z,1749103241.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.265328 target range: 143.578476 and range: 163.20 m.
2025-06-05T06:00:41.367Z,1749103241.367 [DAT](INFO): DAT read: 06:00:39.4158 LVL= 21776, 30705, 15282, 32307, AGC= 66, IDX= 415,-0.07,-0.697,-1.580,-0.369,-1.635, PHS= 1.026, 0.102, 1.264, RAW= 161.2, -38.5, CAL= 162.8, -42.7, ROT= 347.2, 42.7
2025-06-05T06:00:41.368Z,1749103241.368 [DAT](INFO): got valid direction response:
06:00:39.4158 LVL= 21776, 30705, 15282, 32307, AGC= 66, IDX= 415,-0.07,-0.697,-1.580,-0.369,-1.635, PHS= 1.026, 0.102, 1.264, RAW= 161.2, -38.5, CAL= 162.8, -42.7, ROT= 347.2, 42.7
2025-06-05T06:00:41.369Z,1749103241.369 [DAT](INFO): DAT read: Bearing 347.2, 42.7 (Local)
2025-06-05T06:00:41.370Z,1749103241.370 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.2, 42.7 (Local)
2025-06-05T06:00:41.372Z,1749103241.372 [DAT](INFO): DAT read: Range 10 to 50 : 180.9 m (Round-trip 241.3 ms) speed 0.2 m/s
2025-06-05T06:00:41.373Z,1749103241.373 [DAT](INFO): DAT read: user:602>
2025-06-05T06:00:41.384Z,1749103241.384 [DAT](INFO): DAT read: Tx time:06:00:40.5204
2025-06-05T06:00:41.385Z,1749103241.385 [DAT](INFO): Ping request sent.
2025-06-05T06:00:41.386Z,1749103241.386 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:41.402Z,1749103241.402 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:00:41.403Z,1749103241.403 [DAT](INFO): direction in FSK: [0.716652,-0.162819,-0.678160]
2025-06-05T06:00:41.404Z,1749103241.404 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:41.404Z,1749103241.404 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:41.419Z,1749103241.419 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:41.419Z,1749103241.419 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:41.588Z,1749103241.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 180.899994 m,
deltaT: 7.561622 s,
deltaX: 17.699997 m,
approachRate: 2.340767 m/s,
rangeRepo size: 4
2025-06-05T06:00:41.590Z,1749103241.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 179.615692 m,
bearing: 296.806617 deg,
lat: 36.906208 deg,
lon: -122.115978 deg,
deltaT: 11.345334 s,
deltaX: 36.037216 m,
approachRate: 3.176391 m/s,
posRepo size: 4
2025-06-05T06:00:41.597Z,1749103241.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.62 m.
2025-06-05T06:00:41.616Z,1749103241.616 [DAT](INFO): DAT read: TxSync time:06:00:40.5196
2025-06-05T06:00:41.629Z,1749103241.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.615692 m,
nav range: 132.406830 m,
bearing: 292.162435 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.070091 deg/s,
cmd heading: 301.681068 deg,
new cmd heading: 301.600051 deg.
2025-06-05T06:00:41.668Z,1749103241.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.263914 target range: 179.615692 and range: 180.90 m.
2025-06-05T06:00:42.053Z,1749103242.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.62 m.
2025-06-05T06:00:42.056Z,1749103242.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.615692 m,
nav range: 132.079956 m,
bearing: 292.131891 deg,
approach rate: -0.701313 m/s,
LOS rate: -0.065694 deg/s,
cmd heading: 301.600062 deg,
new cmd heading: 301.508205 deg.
2025-06-05T06:00:42.058Z,1749103242.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.262311 target range: 179.615692 and range: 180.90 m.
2025-06-05T06:00:42.423Z,1749103242.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:42.428Z,1749103242.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.62 m.
2025-06-05T06:00:42.431Z,1749103242.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.615692 m,
nav range: 131.835083 m,
bearing: 292.108963 deg,
approach rate: -0.653619 m/s,
LOS rate: -0.061314 deg/s,
cmd heading: 301.508210 deg,
new cmd heading: 301.439297 deg.
2025-06-05T06:00:42.432Z,1749103242.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.261108 target range: 179.615692 and range: 180.90 m.
2025-06-05T06:00:42.620Z,1749103242.620 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:42.620Z,1749103242.620 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:42.621Z,1749103242.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:42.856Z,1749103242.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.62 m.
2025-06-05T06:00:42.871Z,1749103242.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486080
2025-06-05T06:00:42.880Z,1749103242.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.615692 m,
nav range: 131.563187 m,
bearing: 292.080802 deg,
approach rate: -0.634689 m/s,
LOS rate: -0.065871 deg/s,
cmd heading: 301.439307 deg,
new cmd heading: 301.354651 deg.
2025-06-05T06:00:42.881Z,1749103242.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.259631 target range: 179.615692 and range: 180.90 m.
2025-06-05T06:00:43.127Z,1749103243.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740645
2025-06-05T06:00:43.211Z,1749103243.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.62 m.
2025-06-05T06:00:43.214Z,1749103243.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.615692 m,
nav range: 131.340591 m,
bearing: 292.057650 deg,
approach rate: -0.627071 m/s,
LOS rate: -0.065333 deg/s,
cmd heading: 301.354640 deg,
new cmd heading: 301.285065 deg.
2025-06-05T06:00:43.215Z,1749103243.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.258416 target range: 179.615692 and range: 180.90 m.
2025-06-05T06:00:43.377Z,1749103243.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991373
2025-06-05T06:00:43.619Z,1749103243.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.62 m.
2025-06-05T06:00:43.623Z,1749103243.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.615692 m,
nav range: 131.085922 m,
bearing: 292.031105 deg,
approach rate: -0.623708 m/s,
LOS rate: -0.065138 deg/s,
cmd heading: 301.285054 deg,
new cmd heading: 301.205263 deg.
2025-06-05T06:00:43.630Z,1749103243.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244209
2025-06-05T06:00:43.698Z,1749103243.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.257023 target range: 179.615692 and range: 180.90 m.
2025-06-05T06:00:43.881Z,1749103243.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496223
2025-06-05T06:00:44.131Z,1749103244.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745896
2025-06-05T06:00:44.307Z,1749103244.307 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3276,-32768,V
2025-06-05T06:00:44.357Z,1749103244.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.62 m.
2025-06-05T06:00:44.368Z,1749103244.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.615692 m,
nav range: 130.621872 m,
bearing: 291.982709 deg,
approach rate: -0.629318 m/s,
LOS rate: -0.065864 deg/s,
cmd heading: 301.205250 deg,
new cmd heading: 301.059549 deg.
2025-06-05T06:00:44.369Z,1749103244.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.254480 target range: 179.615692 and range: 180.90 m.
2025-06-05T06:00:44.384Z,1749103244.384 [DAT](INFO): DAT read: Rx Time:06:00:43.1626
2025-06-05T06:00:44.384Z,1749103244.384 [DAT](INFO): Rx dataTimestamp_ set to:1749103244.383739
2025-06-05T06:00:44.385Z,1749103244.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999318
2025-06-05T06:00:44.638Z,1749103244.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252259
2025-06-05T06:00:44.858Z,1749103244.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:44.862Z,1749103244.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.62 m.
2025-06-05T06:00:44.865Z,1749103244.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 179.615692 m,
nav range: 130.293137 m,
bearing: 291.948611 deg,
approach rate: -0.651087 m/s,
LOS rate: -0.067706 deg/s,
cmd heading: 301.059548 deg,
new cmd heading: 300.956994 deg.
2025-06-05T06:00:44.866Z,1749103244.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.252690 target range: 179.615692 and range: 180.90 m.
2025-06-05T06:00:44.890Z,1749103244.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503923
2025-06-05T06:00:45.146Z,1749103245.146 [DAT](INFO): DAT read: 06:00:43.1626 LVL= 19488, 21313, 15106, 22163, AGC= 67, IDX= 107,-0.44, 0.181,-1.055, 0.833, 0.110, PHS= 0.159,-1.118, 0.720, RAW= 167.3, 3.0, CAL= 168.0, -5.8, ROT= 342.0, 5.8
2025-06-05T06:00:45.147Z,1749103245.147 [DAT](INFO): got valid direction response:
06:00:43.1626 LVL= 19488, 21313, 15106, 22163, AGC= 67, IDX= 107,-0.44, 0.181,-1.055, 0.833, 0.110, PHS= 0.159,-1.118, 0.720, RAW= 167.3, 3.0, CAL= 168.0, -5.8, ROT= 342.0, 5.8
2025-06-05T06:00:45.148Z,1749103245.148 [DAT](INFO): DAT read: Bearing 342.0, 5.8 (Local)
2025-06-05T06:00:45.149Z,1749103245.149 [DAT](INFO): Local bearing/azimuth received:
Bearing 342.0, 5.8 (Local)
2025-06-05T06:00:45.150Z,1749103245.150 [DAT](INFO): DAT read: Range 10 to 50 : 178.5 m (Round-trip 238.1 ms) speed 0.5 m/s
2025-06-05T06:00:45.151Z,1749103245.151 [DAT](INFO): DAT read: user:603>
2025-06-05T06:00:45.152Z,1749103245.152 [DAT](INFO): DAT read: Tx time:06:00:44.2704
2025-06-05T06:00:45.152Z,1749103245.152 [DAT](INFO): Ping request sent.
2025-06-05T06:00:45.152Z,1749103245.152 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:45.152Z,1749103245.152 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:00:45.153Z,1749103245.153 [DAT](INFO): direction in FSK: [0.946188,-0.307435,-0.101056]
2025-06-05T06:00:45.154Z,1749103245.154 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:45.154Z,1749103245.154 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:45.157Z,1749103245.157 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:45.158Z,1749103245.158 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:45.347Z,1749103245.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 178.500000 m,
deltaT: 3.778322 s,
deltaX: -2.399994 m,
approachRate: -0.635201 m/s,
rangeRepo size: 4
2025-06-05T06:00:45.349Z,1749103245.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 177.228699 m,
bearing: 283.558166 deg,
lat: 36.906208 deg,
lon: -122.115978 deg,
deltaT: 3.778322 s,
deltaX: -2.386993 m,
approachRate: -0.631760 m/s,
posRepo size: 4
2025-06-05T06:00:45.350Z,1749103245.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:45.356Z,1749103245.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 129.996811 m,
bearing: 291.917979 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.067706 deg/s,
cmd heading: 300.956986 deg,
new cmd heading: 300.859639 deg.
2025-06-05T06:00:45.364Z,1749103245.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.250991 target range: 177.228699 and range: 178.50 m.
2025-06-05T06:00:45.393Z,1749103245.393 [DAT](INFO): DAT read: TxSync time:06:00:44.2696
2025-06-05T06:00:45.785Z,1749103245.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:45.804Z,1749103245.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 129.693848 m,
bearing: 291.891218 deg,
approach rate: -0.682511 m/s,
LOS rate: -0.060428 deg/s,
cmd heading: 300.859642 deg,
new cmd heading: 300.779172 deg.
2025-06-05T06:00:45.805Z,1749103245.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.249587 target range: 177.228699 and range: 178.50 m.
2025-06-05T06:00:46.217Z,1749103246.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:46.220Z,1749103246.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 129.413086 m,
bearing: 291.866794 deg,
approach rate: -0.650243 m/s,
LOS rate: -0.056688 deg/s,
cmd heading: 300.779183 deg,
new cmd heading: 300.705753 deg.
2025-06-05T06:00:46.221Z,1749103246.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.248305 target range: 177.228699 and range: 178.50 m.
2025-06-05T06:00:46.548Z,1749103246.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:46.551Z,1749103246.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 129.187469 m,
bearing: 291.847090 deg,
approach rate: -0.681170 m/s,
LOS rate: -0.059593 deg/s,
cmd heading: 300.705744 deg,
new cmd heading: 300.646530 deg.
2025-06-05T06:00:46.552Z,1749103246.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.247272 target range: 177.228699 and range: 178.50 m.
2025-06-05T06:00:46.967Z,1749103246.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:46.969Z,1749103246.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:46.972Z,1749103246.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 128.902542 m,
bearing: 291.830676 deg,
approach rate: -0.676769 m/s,
LOS rate: -0.039073 deg/s,
cmd heading: 300.646540 deg,
new cmd heading: 300.597189 deg.
2025-06-05T06:00:46.973Z,1749103246.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.246411 target range: 177.228699 and range: 178.50 m.
2025-06-05T06:00:47.156Z,1749103247.156 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:47.156Z,1749103247.156 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:47.156Z,1749103247.156 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:47.396Z,1749103247.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:47.400Z,1749103247.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 128.614655 m,
bearing: 291.814945 deg,
approach rate: -0.673429 m/s,
LOS rate: -0.036881 deg/s,
cmd heading: 300.597199 deg,
new cmd heading: 300.549900 deg.
2025-06-05T06:00:47.401Z,1749103247.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.245585 target range: 177.228699 and range: 178.50 m.
2025-06-05T06:00:47.408Z,1749103247.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255105
2025-06-05T06:00:47.662Z,1749103247.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508946
2025-06-05T06:00:47.851Z,1749103247.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:47.854Z,1749103247.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 128.300064 m,
bearing: 291.801479 deg,
approach rate: -0.691826 m/s,
LOS rate: -0.029687 deg/s,
cmd heading: 300.549907 deg,
new cmd heading: 300.509409 deg.
2025-06-05T06:00:47.855Z,1749103247.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.244879 target range: 177.228699 and range: 178.50 m.
2025-06-05T06:00:47.911Z,1749103247.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759055
2025-06-05T06:00:48.163Z,1749103248.163 [DAT](INFO): DAT read: Rx Time:06:00:46.9101
2025-06-05T06:00:48.164Z,1749103248.164 [DAT](INFO): Rx dataTimestamp_ set to:1749103248.163354
2025-06-05T06:00:48.164Z,1749103248.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012058
2025-06-05T06:00:48.289Z,1749103248.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:48.294Z,1749103248.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 128.000748 m,
bearing: 291.788863 deg,
approach rate: -0.683705 m/s,
LOS rate: -0.028885 deg/s,
cmd heading: 300.509418 deg,
new cmd heading: 300.471481 deg.
2025-06-05T06:00:48.295Z,1749103248.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.244216 target range: 177.228699 and range: 178.50 m.
2025-06-05T06:00:48.419Z,1749103248.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265646
2025-06-05T06:00:48.669Z,1749103248.669 [DAT](INFO): DAT read: Range 10 to 50 : 176.7 m (Round-trip 235.6 ms) speed 0.3 m/s
2025-06-05T06:00:48.671Z,1749103248.671 [DAT](INFO): DAT read: user:604>
2025-06-05T06:00:48.673Z,1749103248.673 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T06:00:48.679Z,1749103248.679 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:48.680Z,1749103248.680 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:48.681Z,1749103248.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:48.919Z,1749103248.919 [DAT](INFO): DAT read: T time:06:00:48.0204
2025-06-05T06:00:48.920Z,1749103248.920 [DAT](INFO): unknown deviceResponse_: T time:06:00:48.0204
2025-06-05T06:00:48.920Z,1749103248.920 [DAT](INFO): DAT read: TxSync time:06:00:48.0196
2025-06-05T06:00:48.921Z,1749103248.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768838
2025-06-05T06:00:48.924Z,1749103248.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 176.699997 m,
deltaT: 3.528733 s,
deltaX: -1.800003 m,
approachRate: -0.510099 m/s,
rangeRepo size: 4
2025-06-05T06:00:48.930Z,1749103248.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:48.933Z,1749103248.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 127.559418 m,
bearing: 291.777187 deg,
approach rate: -0.695732 m/s,
LOS rate: -0.018470 deg/s,
cmd heading: 300.471469 deg,
new cmd heading: 300.436320 deg.
2025-06-05T06:00:48.951Z,1749103248.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.243603 target range: 177.228699 and range: 176.70 m.
2025-06-05T06:00:49.171Z,1749103249.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018975
2025-06-05T06:00:49.246Z,1749103249.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:49.248Z,1749103249.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:49.271Z,1749103249.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 127.322319 m,
bearing: 291.771134 deg,
approach rate: -0.730195 m/s,
LOS rate: -0.018677 deg/s,
cmd heading: 300.436307 deg,
new cmd heading: 300.418114 deg.
2025-06-05T06:00:49.272Z,1749103249.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.243285 target range: 177.228699 and range: 176.70 m.
2025-06-05T06:00:49.423Z,1749103249.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271100
2025-06-05T06:00:49.635Z,1749103249.635 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-06-05T06:00:49.652Z,1749103249.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:49.671Z,1749103249.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 127.035889 m,
bearing: 291.764207 deg,
approach rate: -0.708537 m/s,
LOS rate: -0.017173 deg/s,
cmd heading: 300.418112 deg,
new cmd heading: 300.397285 deg.
2025-06-05T06:00:49.672Z,1749103249.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.242922 target range: 177.228699 and range: 176.70 m.
2025-06-05T06:00:49.675Z,1749103249.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523125
2025-06-05T06:00:49.928Z,1749103249.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775392
2025-06-05T06:00:50.022Z,1749103250.022 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:00:50.103Z,1749103250.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:50.106Z,1749103250.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 126.719604 m,
bearing: 291.759814 deg,
approach rate: -0.701006 m/s,
LOS rate: -0.009761 deg/s,
cmd heading: 300.397293 deg,
new cmd heading: 300.384081 deg.
2025-06-05T06:00:50.108Z,1749103250.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.242691 target range: 177.228699 and range: 176.70 m.
2025-06-05T06:00:50.179Z,1749103250.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027100
2025-06-05T06:00:50.431Z,1749103250.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278918
2025-06-05T06:00:50.468Z,1749103250.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:50.471Z,1749103250.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 126.463593 m,
bearing: 291.756346 deg,
approach rate: -0.701464 m/s,
LOS rate: -0.009520 deg/s,
cmd heading: 300.384070 deg,
new cmd heading: 300.373646 deg.
2025-06-05T06:00:50.472Z,1749103250.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.242509 target range: 177.228699 and range: 176.70 m.
2025-06-05T06:00:50.684Z,1749103250.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531944
2025-06-05T06:00:50.935Z,1749103250.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783074
2025-06-05T06:00:50.971Z,1749103250.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:50.982Z,1749103250.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 126.136688 m,
bearing: 291.749974 deg,
approach rate: -0.649807 m/s,
LOS rate: -0.012699 deg/s,
cmd heading: 300.373633 deg,
new cmd heading: 300.354467 deg.
2025-06-05T06:00:50.983Z,1749103250.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.242174 target range: 177.228699 and range: 176.70 m.
2025-06-05T06:00:51.027Z,1749103251.027 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:00:51.187Z,1749103251.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034993
2025-06-05T06:00:51.341Z,1749103251.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:51.346Z,1749103251.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:51.370Z,1749103251.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 125.861931 m,
bearing: 291.744593 deg,
approach rate: -0.734055 m/s,
LOS rate: -0.014409 deg/s,
cmd heading: 300.354454 deg,
new cmd heading: 300.338274 deg.
2025-06-05T06:00:51.371Z,1749103251.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.241892 target range: 177.228699 and range: 176.70 m.
2025-06-05T06:00:51.442Z,1749103251.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289046
2025-06-05T06:00:51.691Z,1749103251.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539116
2025-06-05T06:00:51.928Z,1749103251.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:51.931Z,1749103251.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 125.454567 m,
bearing: 291.731716 deg,
approach rate: -0.699203 m/s,
LOS rate: -0.022173 deg/s,
cmd heading: 300.338280 deg,
new cmd heading: 300.299526 deg.
2025-06-05T06:00:51.932Z,1749103251.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.241216 target range: 177.228699 and range: 176.70 m.
2025-06-05T06:00:51.944Z,1749103251.944 [DAT](INFO): DAT read: Rx Time:06:00:50.6577
2025-06-05T06:00:51.945Z,1749103251.945 [DAT](INFO): Rx dataTimestamp_ set to:1749103251.944334
2025-06-05T06:00:51.945Z,1749103251.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793026
2025-06-05T06:00:52.195Z,1749103252.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.042891
2025-06-05T06:00:52.272Z,1749103252.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.23 m.
2025-06-05T06:00:52.277Z,1749103252.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.228699 m,
nav range: 125.212837 m,
bearing: 291.724050 deg,
approach rate: -0.702529 m/s,
LOS rate: -0.022324 deg/s,
cmd heading: 300.299539 deg,
new cmd heading: 300.276496 deg.
2025-06-05T06:00:52.279Z,1749103252.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.240814 target range: 177.228699 and range: 176.70 m.
2025-06-05T06:00:52.453Z,1749103252.453 [DAT](INFO): DAT read: 06:00:50.6578 LVL= 23456, 26097, 17298, 26595, AGC= 66, IDX= 421,-0.01, 1.292, 0.770, 1.479, 0.202, PHS= 1.178, 0.615, 1.274, RAW= 157.8, -60.4, CAL= 161.8, -54.6, ROT= 348.2, 54.6
2025-06-05T06:00:52.454Z,1749103252.454 [DAT](INFO): got valid direction response:
06:00:50.6578 LVL= 23456, 26097, 17298, 26595, AGC= 66, IDX= 421,-0.01, 1.292, 0.770, 1.479, 0.202, PHS= 1.178, 0.615, 1.274, RAW= 157.8, -60.4, CAL= 161.8, -54.6, ROT= 348.2, 54.6
2025-06-05T06:00:52.455Z,1749103252.455 [DAT](INFO): DAT read: Bearing 348.2, 54.6 (Local)
2025-06-05T06:00:52.455Z,1749103252.455 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.2, 54.6 (Local)
2025-06-05T06:00:52.457Z,1749103252.457 [DAT](INFO): DAT read: Range 10 to 50 : 174.9 m (Round-trip 233.2 ms) speed 0.0 m/s
2025-06-05T06:00:52.458Z,1749103252.458 [DAT](INFO): DAT read: user:605>
2025-06-05T06:00:52.460Z,1749103252.460 [DAT](INFO): DAT read: Tx time:06:00:51.7705
2025-06-05T06:00:52.460Z,1749103252.460 [DAT](INFO): Ping request sent.
2025-06-05T06:00:52.460Z,1749103252.460 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:52.461Z,1749103252.461 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:00:52.462Z,1749103252.462 [DAT](INFO): direction in FSK: [0.567039,-0.118461,-0.815128]
2025-06-05T06:00:52.462Z,1749103252.462 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:52.462Z,1749103252.462 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:52.465Z,1749103252.465 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:52.465Z,1749103252.465 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:52.699Z,1749103252.699 [DAT](INFO): DAT read: TxSync time:06:00:51.7697
2025-06-05T06:00:52.716Z,1749103252.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 174.899994 m,
deltaT: 3.779282 s,
deltaX: -1.800003 m,
approachRate: -0.476282 m/s,
rangeRepo size: 4
2025-06-05T06:00:52.722Z,1749103252.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 173.650101 m,
bearing: 293.389594 deg,
lat: 36.906208 deg,
lon: -122.115940 deg,
deltaT: 7.308015 s,
deltaX: -3.578598 m,
approachRate: -0.489681 m/s,
posRepo size: 4
2025-06-05T06:00:52.723Z,1749103252.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.65 m.
2025-06-05T06:00:52.726Z,1749103252.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.650101 m,
nav range: 121.790421 m,
bearing: 292.303675 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.022324 deg/s,
cmd heading: 300.276508 deg,
new cmd heading: 300.246828 deg.
2025-06-05T06:00:52.731Z,1749103252.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.240296 target range: 173.650101 and range: 174.90 m.
2025-06-05T06:00:53.142Z,1749103253.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.65 m.
2025-06-05T06:00:53.145Z,1749103253.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.650101 m,
nav range: 121.480049 m,
bearing: 292.289688 deg,
approach rate: -0.734929 m/s,
LOS rate: -0.033203 deg/s,
cmd heading: 300.246838 deg,
new cmd heading: 300.204771 deg.
2025-06-05T06:00:53.151Z,1749103253.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.239562 target range: 173.650101 and range: 174.90 m.
2025-06-05T06:00:53.487Z,1749103253.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:53.489Z,1749103253.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.65 m.
2025-06-05T06:00:53.523Z,1749103253.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.650101 m,
nav range: 121.229904 m,
bearing: 292.278432 deg,
approach rate: -0.712043 m/s,
LOS rate: -0.032106 deg/s,
cmd heading: 300.204764 deg,
new cmd heading: 300.170927 deg.
2025-06-05T06:00:53.525Z,1749103253.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.238971 target range: 173.650101 and range: 174.90 m.
2025-06-05T06:00:53.707Z,1749103253.707 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:53.707Z,1749103253.707 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:53.707Z,1749103253.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:53.960Z,1749103253.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500021
2025-06-05T06:00:53.963Z,1749103253.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.65 m.
2025-06-05T06:00:53.966Z,1749103253.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.650101 m,
nav range: 120.922150 m,
bearing: 292.258750 deg,
approach rate: -0.650612 m/s,
LOS rate: -0.041716 deg/s,
cmd heading: 300.170913 deg,
new cmd heading: 300.111715 deg.
2025-06-05T06:00:53.967Z,1749103253.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.237937 target range: 173.650101 and range: 174.90 m.
2025-06-05T06:00:54.212Z,1749103254.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751178
2025-06-05T06:00:54.289Z,1749103254.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.65 m.
2025-06-05T06:00:54.294Z,1749103254.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.650101 m,
nav range: 120.676559 m,
bearing: 292.242869 deg,
approach rate: -0.752015 m/s,
LOS rate: -0.048727 deg/s,
cmd heading: 300.111709 deg,
new cmd heading: 300.063970 deg.
2025-06-05T06:00:54.315Z,1749103254.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.237104 target range: 173.650101 and range: 174.90 m.
2025-06-05T06:00:54.463Z,1749103254.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002637
2025-06-05T06:00:54.688Z,1749103254.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.65 m.
2025-06-05T06:00:54.691Z,1749103254.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.650101 m,
nav range: 120.400993 m,
bearing: 292.224802 deg,
approach rate: -0.690592 m/s,
LOS rate: -0.045380 deg/s,
cmd heading: 300.063980 deg,
new cmd heading: 300.009657 deg.
2025-06-05T06:00:54.694Z,1749103254.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.236156 target range: 173.650101 and range: 174.90 m.
2025-06-05T06:00:54.715Z,1749103254.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254705
2025-06-05T06:00:54.967Z,1749103254.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506794
2025-06-05T06:00:55.117Z,1749103255.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.65 m.
2025-06-05T06:00:55.120Z,1749103255.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.650101 m,
nav range: 120.104988 m,
bearing: 292.199458 deg,
approach rate: -0.689250 m/s,
LOS rate: -0.059160 deg/s,
cmd heading: 300.009666 deg,
new cmd heading: 299.933446 deg.
2025-06-05T06:00:55.121Z,1749103255.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.234826 target range: 173.650101 and range: 174.90 m.
2025-06-05T06:00:55.221Z,1749103255.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761071
2025-06-05T06:00:55.477Z,1749103255.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016897
2025-06-05T06:00:55.530Z,1749103255.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:55.532Z,1749103255.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.65 m.
2025-06-05T06:00:55.535Z,1749103255.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.650101 m,
nav range: 119.818886 m,
bearing: 292.174924 deg,
approach rate: -0.689410 m/s,
LOS rate: -0.059261 deg/s,
cmd heading: 299.933441 deg,
new cmd heading: 299.859663 deg.
2025-06-05T06:00:55.536Z,1749103255.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.233539 target range: 173.650101 and range: 174.90 m.
2025-06-05T06:00:55.728Z,1749103255.728 [DAT](INFO): DAT read: Rx Time:06:00:54.4057
2025-06-05T06:00:55.728Z,1749103255.728 [DAT](INFO): Rx dataTimestamp_ set to:1749103255.727909
2025-06-05T06:00:55.729Z,1749103255.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268369
2025-06-05T06:00:55.968Z,1749103255.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.65 m.
2025-06-05T06:00:55.976Z,1749103255.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 173.650101 m,
nav range: 119.518700 m,
bearing: 292.147319 deg,
approach rate: -0.689341 m/s,
LOS rate: -0.063550 deg/s,
cmd heading: 299.859675 deg,
new cmd heading: 299.776653 deg.
2025-06-05T06:00:55.977Z,1749103255.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.232090 target range: 173.650101 and range: 174.90 m.
2025-06-05T06:00:55.979Z,1749103255.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518864
2025-06-05T06:00:56.237Z,1749103256.237 [DAT](INFO): DAT read: 06:00:54.4057 LVL= 20960, 26657, 19042, 25459, AGC= 64, IDX= 117, 0.15, 0.404,-0.798, 0.908, 0.220, PHS= 0.272,-0.971, 0.685, RAW= 163.9, 0.2, CAL= 165.6, -8.3, ROT= 344.4, 8.3
2025-06-05T06:00:56.238Z,1749103256.238 [DAT](INFO): got valid direction response:
06:00:54.4057 LVL= 20960, 26657, 19042, 25459, AGC= 64, IDX= 117, 0.15, 0.404,-0.798, 0.908, 0.220, PHS= 0.272,-0.971, 0.685, RAW= 163.9, 0.2, CAL= 165.6, -8.3, ROT= 344.4, 8.3
2025-06-05T06:00:56.239Z,1749103256.239 [DAT](INFO): DAT read: Bearing 344.4, 8.3 (Local)
2025-06-05T06:00:56.239Z,1749103256.239 [DAT](INFO): Local bearing/azimuth received:
Bearing 344.4, 8.3 (Local)
2025-06-05T06:00:56.242Z,1749103256.242 [DAT](INFO): DAT read: Range 10 to 50 : 173.3 m (Round-trip 231.1 ms) speed 0.4 m/s
2025-06-05T06:00:56.243Z,1749103256.243 [DAT](INFO): DAT read: user:606>
2025-06-05T06:00:56.244Z,1749103256.244 [DAT](INFO): DAT read: Tx time:06:00:55.5205
2025-06-05T06:00:56.244Z,1749103256.244 [DAT](INFO): Ping request sent.
2025-06-05T06:00:56.244Z,1749103256.244 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:00:56.245Z,1749103256.245 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:00:56.246Z,1749103256.246 [DAT](INFO): direction in FSK: [0.953074,-0.266103,-0.144356]
2025-06-05T06:00:56.246Z,1749103256.246 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:56.246Z,1749103256.246 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:56.249Z,1749103256.249 [DAT](INFO): publishing transmit ping time
2025-06-05T06:00:56.250Z,1749103256.250 [DAT](INFO): publishing direction and range info
2025-06-05T06:00:56.376Z,1749103256.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 173.300003 m,
deltaT: 3.784052 s,
deltaX: -1.599991 m,
approachRate: -0.422825 m/s,
rangeRepo size: 4
2025-06-05T06:00:56.399Z,1749103256.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 172.045303 m,
bearing: 284.304521 deg,
lat: 36.906184 deg,
lon: -122.115940 deg,
deltaT: 3.784052 s,
deltaX: -1.604797 m,
approachRate: -0.424095 m/s,
posRepo size: 4
2025-06-05T06:00:56.399Z,1749103256.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:00:56.406Z,1749103256.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 118.280502 m,
bearing: 290.940650 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.063550 deg/s,
cmd heading: 299.776648 deg,
new cmd heading: 299.699277 deg.
2025-06-05T06:00:56.408Z,1749103256.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.230739 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:00:56.484Z,1749103256.484 [DAT](INFO): DAT read: TxSync time:06:00:55.5197
2025-06-05T06:00:56.765Z,1749103256.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:00:56.776Z,1749103256.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 117.996223 m,
bearing: 290.911416 deg,
approach rate: -0.727140 m/s,
LOS rate: -0.074956 deg/s,
cmd heading: 299.699275 deg,
new cmd heading: 299.611362 deg.
2025-06-05T06:00:56.777Z,1749103256.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.229205 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:00:57.137Z,1749103257.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:00:57.140Z,1749103257.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 117.723778 m,
bearing: 290.882814 deg,
approach rate: -0.731339 m/s,
LOS rate: -0.076955 deg/s,
cmd heading: 299.611357 deg,
new cmd heading: 299.525353 deg.
2025-06-05T06:00:57.143Z,1749103257.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.227704 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:00:57.531Z,1749103257.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:00:57.534Z,1749103257.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 117.450096 m,
bearing: 290.854282 deg,
approach rate: -0.694749 m/s,
LOS rate: -0.072599 deg/s,
cmd heading: 299.525351 deg,
new cmd heading: 299.439555 deg.
2025-06-05T06:00:57.535Z,1749103257.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.226206 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:00:58.047Z,1749103258.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:00:58.049Z,1749103258.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:00:58.052Z,1749103258.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 117.090927 m,
bearing: 290.818957 deg,
approach rate: -0.693393 m/s,
LOS rate: -0.068405 deg/s,
cmd heading: 299.439564 deg,
new cmd heading: 299.333266 deg.
2025-06-05T06:00:58.053Z,1749103258.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.224351 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:00:58.247Z,1749103258.247 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:00:58.247Z,1749103258.247 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:00:58.247Z,1749103258.247 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:00:58.375Z,1749103258.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:00:58.399Z,1749103258.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 116.863785 m,
bearing: 290.796482 deg,
approach rate: -0.698206 m/s,
LOS rate: -0.069220 deg/s,
cmd heading: 299.333259 deg,
new cmd heading: 299.265703 deg.
2025-06-05T06:00:58.400Z,1749103258.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.223172 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:00:58.500Z,1749103258.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255743
2025-06-05T06:00:58.751Z,1749103258.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506690
2025-06-05T06:00:58.802Z,1749103258.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:00:58.805Z,1749103258.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 116.577042 m,
bearing: 290.768063 deg,
approach rate: -0.676683 m/s,
LOS rate: -0.067232 deg/s,
cmd heading: 299.265695 deg,
new cmd heading: 299.180227 deg.
2025-06-05T06:00:58.810Z,1749103258.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.221680 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:00:59.003Z,1749103259.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758690
2025-06-05T06:00:59.227Z,1749103259.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:00:59.231Z,1749103259.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 116.271843 m,
bearing: 290.740630 deg,
approach rate: -0.710781 m/s,
LOS rate: -0.064055 deg/s,
cmd heading: 299.180235 deg,
new cmd heading: 299.097723 deg.
2025-06-05T06:00:59.232Z,1749103259.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.220240 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:00:59.255Z,1749103259.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010598
2025-06-05T06:00:59.509Z,1749103259.509 [DAT](INFO): DAT read: Rx Time:06:00:58.0911
2025-06-05T06:00:59.510Z,1749103259.510 [DAT](INFO): Rx dataTimestamp_ set to:1749103259.509807
2025-06-05T06:00:59.511Z,1749103259.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266424
2025-06-05T06:00:59.590Z,1749103259.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:00:59.599Z,1749103259.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 116.028938 m,
bearing: 290.718784 deg,
approach rate: -0.677269 m/s,
LOS rate: -0.061039 deg/s,
cmd heading: 299.097727 deg,
new cmd heading: 299.032051 deg.
2025-06-05T06:00:59.600Z,1749103259.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.219094 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:00:59.760Z,1749103259.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515775
2025-06-05T06:01:00.027Z,1749103260.027 [DAT](INFO): DAT read: 06:00:58.0911 LVL= 21584, 24161, 16178, 30355, AGC= 63, IDX= 293,-0.35,-0.475,-1.659, 0.032,-0.668, PHS= 0.281,-0.944, 0.697, RAW= 164.1, -0.5, CAL= 166.0, -8.8, ROT= 344.0, 8.8
2025-06-05T06:01:00.028Z,1749103260.028 [DAT](INFO): got valid direction response:
06:00:58.0911 LVL= 21584, 24161, 16178, 30355, AGC= 63, IDX= 293,-0.35,-0.475,-1.659, 0.032,-0.668, PHS= 0.281,-0.944, 0.697, RAW= 164.1, -0.5, CAL= 166.0, -8.8, ROT= 344.0, 8.8
2025-06-05T06:01:00.029Z,1749103260.029 [DAT](INFO): DAT read: Bearing 344.0, 8.8 (Local)
2025-06-05T06:01:00.029Z,1749103260.029 [DAT](INFO): Local bearing/azimuth received:
Bearing 344.0, 8.8 (Local)
2025-06-05T06:01:00.031Z,1749103260.031 [DAT](INFO): DAT read: Range 10 to 50 : 124.8 m (Round-trip 166.5 ms) speed 0.8 m/s
2025-06-05T06:01:00.031Z,1749103260.031 [DAT](INFO): DAT read: user:607>
2025-06-05T06:01:00.032Z,1749103260.032 [DAT](INFO): DAT read: Tx time:06:00:59.1705
2025-06-05T06:01:00.033Z,1749103260.033 [DAT](INFO): Ping request sent.
2025-06-05T06:01:00.033Z,1749103260.033 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:01:00.043Z,1749103260.043 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:01:00.044Z,1749103260.044 [DAT](INFO): direction in FSK: [0.949946,-0.272393,-0.152986]
2025-06-05T06:01:00.044Z,1749103260.044 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:00.044Z,1749103260.044 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:00.055Z,1749103260.055 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:00.056Z,1749103260.056 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:00.093Z,1749103260.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 124.800003 m,
deltaT: 3.779993 s,
deltaX: -48.500000 m,
approachRate: -12.830711 m/s,
rangeRepo size: 4
2025-06-05T06:01:00.094Z,1749103260.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:01:00.105Z,1749103260.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 115.695671 m,
bearing: 290.690542 deg,
approach rate: -0.677192 m/s,
LOS rate: -0.057554 deg/s,
cmd heading: 299.032048 deg,
new cmd heading: 298.947076 deg.
2025-06-05T06:01:00.115Z,1749103260.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.217611 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:01:00.264Z,1749103260.264 [DAT](INFO): DAT read: TxSync time:06:00:59.1697
2025-06-05T06:01:00.432Z,1749103260.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:00.439Z,1749103260.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:01:00.447Z,1749103260.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 115.428795 m,
bearing: 290.667900 deg,
approach rate: -0.740580 m/s,
LOS rate: -0.062975 deg/s,
cmd heading: 298.947080 deg,
new cmd heading: 298.878999 deg.
2025-06-05T06:01:00.448Z,1749103260.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.216423 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:01:00.520Z,1749103260.520 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:00.521Z,1749103260.521 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:00.521Z,1749103260.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:00.767Z,1749103260.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.734002
2025-06-05T06:01:00.849Z,1749103260.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:01:00.856Z,1749103260.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 115.159836 m,
bearing: 290.645420 deg,
approach rate: -0.655089 m/s,
LOS rate: -0.054882 deg/s,
cmd heading: 298.878997 deg,
new cmd heading: 298.811398 deg.
2025-06-05T06:01:00.857Z,1749103260.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.215243 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:01:01.019Z,1749103261.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986192
2025-06-05T06:01:01.268Z,1749103261.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:01:01.271Z,1749103261.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238179
2025-06-05T06:01:01.272Z,1749103261.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 114.852623 m,
bearing: 290.625418 deg,
approach rate: -0.733912 m/s,
LOS rate: -0.047911 deg/s,
cmd heading: 298.811405 deg,
new cmd heading: 298.751239 deg.
2025-06-05T06:01:01.273Z,1749103261.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.214193 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:01:01.528Z,1749103261.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494556
2025-06-05T06:01:01.636Z,1749103261.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:01:01.640Z,1749103261.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 114.596359 m,
bearing: 290.609301 deg,
approach rate: -0.695271 m/s,
LOS rate: -0.043827 deg/s,
cmd heading: 298.751245 deg,
new cmd heading: 298.702784 deg.
2025-06-05T06:01:01.641Z,1749103261.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.213347 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:01:01.783Z,1749103261.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749668
2025-06-05T06:01:02.033Z,1749103262.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999705
2025-06-05T06:01:02.162Z,1749103262.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:01:02.165Z,1749103262.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 114.212990 m,
bearing: 290.586790 deg,
approach rate: -0.729379 m/s,
LOS rate: -0.042971 deg/s,
cmd heading: 298.702778 deg,
new cmd heading: 298.635019 deg.
2025-06-05T06:01:02.166Z,1749103262.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.212164 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:01:02.284Z,1749103262.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251115
2025-06-05T06:01:02.520Z,1749103262.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:02.522Z,1749103262.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:01:02.528Z,1749103262.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 113.964630 m,
bearing: 290.572125 deg,
approach rate: -0.689645 m/s,
LOS rate: -0.040809 deg/s,
cmd heading: 298.635022 deg,
new cmd heading: 298.590933 deg.
2025-06-05T06:01:02.528Z,1749103262.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.211395 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:01:02.535Z,1749103262.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502170
2025-06-05T06:01:02.787Z,1749103262.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754409
2025-06-05T06:01:02.851Z,1749103262.851 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T06:01:03.040Z,1749103263.040 [DAT](INFO): DAT read: Rx Time:06:01:01.8003
2025-06-05T06:01:03.041Z,1749103263.041 [DAT](INFO): Rx dataTimestamp_ set to:1749103263.040590
2025-06-05T06:01:03.043Z,1749103263.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009846
2025-06-05T06:01:03.103Z,1749103263.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:01:03.123Z,1749103263.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 113.578728 m,
bearing: 290.552821 deg,
approach rate: -0.663826 m/s,
LOS rate: -0.033321 deg/s,
cmd heading: 298.590927 deg,
new cmd heading: 298.532815 deg.
2025-06-05T06:01:03.125Z,1749103263.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.210381 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:01:03.292Z,1749103263.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258620
2025-06-05T06:01:03.409Z,1749103263.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.05 m.
2025-06-05T06:01:03.413Z,1749103263.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.045303 m,
nav range: 113.343071 m,
bearing: 290.541119 deg,
approach rate: -0.774501 m/s,
LOS rate: -0.038538 deg/s,
cmd heading: 298.532815 deg,
new cmd heading: 298.497638 deg.
2025-06-05T06:01:03.414Z,1749103263.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.209766 target range: 172.045303 and range: 173.30 m.
2025-06-05T06:01:03.547Z,1749103263.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512819
2025-06-05T06:01:03.801Z,1749103263.801 [DAT](INFO): DAT read: 06:01:01.8003 LVL= 32752, 32753, 29298, 29331, AGC= 67, IDX= 19, 0.39,-3.025, 2.631,-2.668, 2.120, PHS= 1.226, 0.557, 1.492, RAW= 166.0, -54.2, CAL= 167.7, -51.4, ROT= 342.3, 51.4
2025-06-05T06:01:03.803Z,1749103263.803 [DAT](INFO): got valid direction response:
06:01:01.8003 LVL= 32752, 32753, 29298, 29331, AGC= 67, IDX= 19, 0.39,-3.025, 2.631,-2.668, 2.120, PHS= 1.226, 0.557, 1.492, RAW= 166.0, -54.2, CAL= 167.7, -51.4, ROT= 342.3, 51.4
2025-06-05T06:01:03.804Z,1749103263.804 [DAT](INFO): DAT read: Bearing 342.3, 51.4 (Local)
2025-06-05T06:01:03.804Z,1749103263.804 [DAT](INFO): Local bearing/azimuth received:
Bearing 342.3, 51.4 (Local)
2025-06-05T06:01:03.806Z,1749103263.806 [DAT](INFO): DAT read: Range 10 to 50 : 169.2 m (Round-trip 225.7 ms) speed 0.4 m/s
2025-06-05T06:01:03.806Z,1749103263.806 [DAT](INFO): DAT read: user:608>
2025-06-05T06:01:03.807Z,1749103263.807 [DAT](INFO): DAT read: Tx time:06:01:02.9205
2025-06-05T06:01:03.808Z,1749103263.808 [DAT](INFO): Ping request sent.
2025-06-05T06:01:03.808Z,1749103263.808 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:01:03.810Z,1749103263.810 [DAT](INFO): DAT read: TxSync time:06:01:02.9197
2025-06-05T06:01:03.811Z,1749103263.811 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:01:03.812Z,1749103263.812 [DAT](INFO): direction in FSK: [0.594346,-0.189680,-0.781520]
2025-06-05T06:01:03.812Z,1749103263.812 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:03.813Z,1749103263.813 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:03.816Z,1749103263.816 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:03.816Z,1749103263.816 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:03.921Z,1749103263.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 169.199997 m,
deltaT: 7.564008 s,
deltaX: -4.100006 m,
approachRate: -0.542041 m/s,
rangeRepo size: 4
2025-06-05T06:01:03.957Z,1749103263.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 167.947464 m,
bearing: 286.216378 deg,
lat: 36.906142 deg,
lon: -122.116075 deg,
deltaT: 7.564008 s,
deltaX: -4.097839 m,
approachRate: -0.541755 m/s,
posRepo size: 4
2025-06-05T06:01:03.964Z,1749103263.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:03.999Z,1749103263.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 122.885887 m,
bearing: 286.545764 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.038538 deg/s,
cmd heading: 298.497626 deg,
new cmd heading: 298.438321 deg.
2025-06-05T06:01:04.001Z,1749103264.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.208731 target range: 167.947464 and range: 169.20 m.
2025-06-05T06:01:04.387Z,1749103264.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:04.389Z,1749103264.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 122.531311 m,
bearing: 286.520752 deg,
approach rate: -0.768319 m/s,
LOS rate: -0.054356 deg/s,
cmd heading: 298.438313 deg,
new cmd heading: 298.363058 deg.
2025-06-05T06:01:04.395Z,1749103264.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.207417 target range: 167.947464 and range: 169.20 m.
2025-06-05T06:01:04.748Z,1749103264.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:04.754Z,1749103264.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:04.757Z,1749103264.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 122.279495 m,
bearing: 286.503180 deg,
approach rate: -0.684332 m/s,
LOS rate: -0.047851 deg/s,
cmd heading: 298.363044 deg,
new cmd heading: 298.310220 deg.
2025-06-05T06:01:04.767Z,1749103264.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206496 target range: 167.947464 and range: 169.20 m.
2025-06-05T06:01:04.803Z,1749103264.803 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:04.803Z,1749103264.803 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:04.804Z,1749103264.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:05.057Z,1749103265.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248806
2025-06-05T06:01:05.160Z,1749103265.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:05.163Z,1749103265.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 121.982430 m,
bearing: 286.483915 deg,
approach rate: -0.725760 m/s,
LOS rate: -0.047181 deg/s,
cmd heading: 298.310233 deg,
new cmd heading: 298.252297 deg.
2025-06-05T06:01:05.164Z,1749103265.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205484 target range: 167.947464 and range: 169.20 m.
2025-06-05T06:01:05.307Z,1749103265.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498756
2025-06-05T06:01:05.560Z,1749103265.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752045
2025-06-05T06:01:05.568Z,1749103265.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:05.572Z,1749103265.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 121.707581 m,
bearing: 286.466047 deg,
approach rate: -0.672825 m/s,
LOS rate: -0.043838 deg/s,
cmd heading: 298.252286 deg,
new cmd heading: 298.198562 deg.
2025-06-05T06:01:05.573Z,1749103265.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204547 target range: 167.947464 and range: 169.20 m.
2025-06-05T06:01:05.811Z,1749103265.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002891
2025-06-05T06:01:05.948Z,1749103265.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:05.951Z,1749103265.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 121.432182 m,
bearing: 286.448137 deg,
approach rate: -0.724401 m/s,
LOS rate: -0.047216 deg/s,
cmd heading: 298.198573 deg,
new cmd heading: 298.144722 deg.
2025-06-05T06:01:05.966Z,1749103265.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.203607 target range: 167.947464 and range: 169.20 m.
2025-06-05T06:01:06.064Z,1749103266.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255826
2025-06-05T06:01:06.315Z,1749103266.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506929
2025-06-05T06:01:06.394Z,1749103266.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:06.396Z,1749103266.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 121.128731 m,
bearing: 286.429096 deg,
approach rate: -0.681226 m/s,
LOS rate: -0.042854 deg/s,
cmd heading: 298.144724 deg,
new cmd heading: 298.087456 deg.
2025-06-05T06:01:06.397Z,1749103266.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.202608 target range: 167.947464 and range: 169.20 m.
2025-06-05T06:01:06.567Z,1749103266.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759033
2025-06-05T06:01:06.757Z,1749103266.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:06.761Z,1749103266.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:06.764Z,1749103266.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 120.877724 m,
bearing: 286.413630 deg,
approach rate: -0.683485 m/s,
LOS rate: -0.042200 deg/s,
cmd heading: 298.087460 deg,
new cmd heading: 298.040966 deg.
2025-06-05T06:01:06.765Z,1749103266.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.201796 target range: 167.947464 and range: 169.20 m.
2025-06-05T06:01:06.820Z,1749103266.820 [DAT](INFO): DAT read: Rx Time:06:01:05.5477
2025-06-05T06:01:06.821Z,1749103266.821 [DAT](INFO): Rx dataTimestamp_ set to:1749103266.820534
2025-06-05T06:01:06.822Z,1749103266.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013469
2025-06-05T06:01:07.071Z,1749103267.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262846
2025-06-05T06:01:07.190Z,1749103267.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:07.195Z,1749103267.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 120.580299 m,
bearing: 286.396267 deg,
approach rate: -0.692603 m/s,
LOS rate: -0.040533 deg/s,
cmd heading: 298.040960 deg,
new cmd heading: 297.988742 deg.
2025-06-05T06:01:07.196Z,1749103267.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.200885 target range: 167.947464 and range: 169.20 m.
2025-06-05T06:01:07.325Z,1749103267.325 [DAT](INFO): DAT read: Range 10 to 50 : 167.2 m (Round-trip 223.0 ms) speed 0.9 m/s
2025-06-05T06:01:07.327Z,1749103267.327 [DAT](INFO): DAT read: user:609>
2025-06-05T06:01:07.328Z,1749103267.328 [DAT](INFO): DAT read: Tx time:06:01:06.6206
2025-06-05T06:01:07.328Z,1749103267.328 [DAT](INFO): Ping request sent.
2025-06-05T06:01:07.328Z,1749103267.328 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:01:07.328Z,1749103267.328 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T06:01:07.328Z,1749103267.328 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:07.329Z,1749103267.329 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:07.565Z,1749103267.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 167.199997 m,
deltaT: 3.527983 s,
deltaX: -2.000000 m,
approachRate: -0.566896 m/s,
rangeRepo size: 4
2025-06-05T06:01:07.565Z,1749103267.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:07.568Z,1749103267.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 120.324074 m,
bearing: 286.381485 deg,
approach rate: -0.685156 m/s,
LOS rate: -0.039612 deg/s,
cmd heading: 297.988750 deg,
new cmd heading: 297.944310 deg.
2025-06-05T06:01:07.569Z,1749103267.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.200109 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:07.578Z,1749103267.578 [DAT](INFO): DAT read: TxSync time:06:01:06.6198
2025-06-05T06:01:07.979Z,1749103267.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:07.983Z,1749103267.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 120.036476 m,
bearing: 286.364817 deg,
approach rate: -0.692524 m/s,
LOS rate: -0.040232 deg/s,
cmd heading: 297.944299 deg,
new cmd heading: 297.894175 deg.
2025-06-05T06:01:08.003Z,1749103268.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.199234 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:08.438Z,1749103268.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:08.443Z,1749103268.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 119.747421 m,
bearing: 286.345721 deg,
approach rate: -0.635464 m/s,
LOS rate: -0.042083 deg/s,
cmd heading: 297.894165 deg,
new cmd heading: 297.836739 deg.
2025-06-05T06:01:08.444Z,1749103268.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198232 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:08.787Z,1749103268.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:08.789Z,1749103268.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:08.794Z,1749103268.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 119.491943 m,
bearing: 286.330026 deg,
approach rate: -0.719549 m/s,
LOS rate: -0.044298 deg/s,
cmd heading: 297.836737 deg,
new cmd heading: 297.789553 deg.
2025-06-05T06:01:08.795Z,1749103268.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.197408 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:08.836Z,1749103268.836 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:08.836Z,1749103268.836 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:08.836Z,1749103268.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:09.089Z,1749103269.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761072
2025-06-05T06:01:09.240Z,1749103269.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:09.244Z,1749103269.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 119.184509 m,
bearing: 286.308110 deg,
approach rate: -0.682660 m/s,
LOS rate: -0.048790 deg/s,
cmd heading: 297.789554 deg,
new cmd heading: 297.723638 deg.
2025-06-05T06:01:09.245Z,1749103269.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.196258 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:09.340Z,1749103269.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011774
2025-06-05T06:01:09.594Z,1749103269.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265052
2025-06-05T06:01:09.616Z,1749103269.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:09.620Z,1749103269.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 118.944672 m,
bearing: 286.290960 deg,
approach rate: -0.637781 m/s,
LOS rate: -0.045699 deg/s,
cmd heading: 297.723629 deg,
new cmd heading: 297.672074 deg.
2025-06-05T06:01:09.621Z,1749103269.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195358 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:09.845Z,1749103269.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517065
2025-06-05T06:01:10.004Z,1749103270.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:10.006Z,1749103270.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 118.671448 m,
bearing: 286.271381 deg,
approach rate: -0.704512 m/s,
LOS rate: -0.050601 deg/s,
cmd heading: 297.672075 deg,
new cmd heading: 297.613202 deg.
2025-06-05T06:01:10.007Z,1749103270.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.194330 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:10.095Z,1749103270.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767164
2025-06-05T06:01:10.347Z,1749103270.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019006
2025-06-05T06:01:10.461Z,1749103270.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:10.468Z,1749103270.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 118.373131 m,
bearing: 286.246057 deg,
approach rate: -0.651998 m/s,
LOS rate: -0.055486 deg/s,
cmd heading: 297.613199 deg,
new cmd heading: 297.537036 deg.
2025-06-05T06:01:10.469Z,1749103270.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.193001 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:10.599Z,1749103270.599 [DAT](INFO): DAT read: Rx Time:06:01:09.1808
2025-06-05T06:01:10.600Z,1749103270.600 [DAT](INFO): Rx dataTimestamp_ set to:1749103270.599541
2025-06-05T06:01:10.600Z,1749103270.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272374
2025-06-05T06:01:10.823Z,1749103270.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:10.827Z,1749103270.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:10.830Z,1749103270.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 118.116356 m,
bearing: 286.224536 deg,
approach rate: -0.704779 m/s,
LOS rate: -0.059198 deg/s,
cmd heading: 297.537028 deg,
new cmd heading: 297.472325 deg.
2025-06-05T06:01:10.831Z,1749103270.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.191872 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:10.851Z,1749103270.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523091
2025-06-05T06:01:11.117Z,1749103271.117 [DAT](INFO): DAT read: 06:01:09.1808 LVL= 28400, 29281, 20642, 32755, AGC= 65, IDX= 267, 0.31,-1.457,-2.736,-1.088,-1.853, PHS= 0.484,-0.836, 0.762, RAW= 159.4, -5.6, CAL= 163.2, -13.3, ROT= 346.8, 13.3
2025-06-05T06:01:11.119Z,1749103271.119 [DAT](INFO): got valid direction response:
06:01:09.1808 LVL= 28400, 29281, 20642, 32755, AGC= 65, IDX= 267, 0.31,-1.457,-2.736,-1.088,-1.853, PHS= 0.484,-0.836, 0.762, RAW= 159.4, -5.6, CAL= 163.2, -13.3, ROT= 346.8, 13.3
2025-06-05T06:01:11.121Z,1749103271.121 [DAT](INFO): DAT read: Bearing 346.8, 13.3 (Local)
2025-06-05T06:01:11.130Z,1749103271.130 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.8, 13.3 (Local)
2025-06-05T06:01:11.132Z,1749103271.132 [DAT](INFO): DAT read: Range 10 to 50 : 117.0 m (Round-trip 156.1 ms) speed 0.5 m/s
2025-06-05T06:01:11.133Z,1749103271.133 [DAT](INFO): DAT read: user:610>
2025-06-05T06:01:11.146Z,1749103271.146 [DAT](INFO): DAT read: Tx time:06:01:10.2706
2025-06-05T06:01:11.147Z,1749103271.147 [DAT](INFO): Ping request sent.
2025-06-05T06:01:11.147Z,1749103271.147 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:01:11.148Z,1749103271.148 [DAT](INFO): DAT read: TxSync time:06:01:10.2698
2025-06-05T06:01:11.148Z,1749103271.148 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:01:11.149Z,1749103271.149 [DAT](INFO): direction in FSK: [0.947466,-0.222226,-0.230050]
2025-06-05T06:01:11.149Z,1749103271.149 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:11.150Z,1749103271.150 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:11.203Z,1749103271.203 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:11.203Z,1749103271.203 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:11.329Z,1749103271.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 117.000000 m,
deltaT: 3.781211 s,
deltaX: -50.199997 m,
approachRate: -13.276169 m/s,
rangeRepo size: 4
2025-06-05T06:01:11.334Z,1749103271.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:11.337Z,1749103271.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 117.791931 m,
bearing: 286.191523 deg,
approach rate: -0.644568 m/s,
LOS rate: -0.065770 deg/s,
cmd heading: 297.472333 deg,
new cmd heading: 297.373023 deg.
2025-06-05T06:01:11.343Z,1749103271.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.190138 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:11.718Z,1749103271.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:11.721Z,1749103271.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 117.522530 m,
bearing: 286.163969 deg,
approach rate: -0.692246 m/s,
LOS rate: -0.070965 deg/s,
cmd heading: 297.373022 deg,
new cmd heading: 297.290169 deg.
2025-06-05T06:01:11.722Z,1749103271.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188692 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:12.060Z,1749103272.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:12.097Z,1749103272.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 117.303505 m,
bearing: 286.141471 deg,
approach rate: -0.644750 m/s,
LOS rate: -0.066351 deg/s,
cmd heading: 297.290158 deg,
new cmd heading: 297.222538 deg.
2025-06-05T06:01:12.105Z,1749103272.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.187512 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:12.538Z,1749103272.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:12.545Z,1749103272.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 116.981125 m,
bearing: 286.106684 deg,
approach rate: -0.671716 m/s,
LOS rate: -0.072683 deg/s,
cmd heading: 297.222539 deg,
new cmd heading: 297.117890 deg.
2025-06-05T06:01:12.551Z,1749103272.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.185686 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:12.877Z,1749103272.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:12.880Z,1749103272.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:12.888Z,1749103272.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 116.750496 m,
bearing: 286.081663 deg,
approach rate: -0.673505 m/s,
LOS rate: -0.073212 deg/s,
cmd heading: 297.117901 deg,
new cmd heading: 297.042690 deg.
2025-06-05T06:01:12.889Z,1749103272.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.184373 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:13.121Z,1749103273.121 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:13.122Z,1749103273.122 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:13.123Z,1749103273.123 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:13.297Z,1749103273.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:13.300Z,1749103273.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 116.473351 m,
bearing: 286.045638 deg,
approach rate: -0.664272 m/s,
LOS rate: -0.086552 deg/s,
cmd heading: 297.042687 deg,
new cmd heading: 296.934354 deg.
2025-06-05T06:01:13.301Z,1749103273.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.182482 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:13.373Z,1749103273.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225222
2025-06-05T06:01:13.623Z,1749103273.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476240
2025-06-05T06:01:13.727Z,1749103273.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:13.734Z,1749103273.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 116.199188 m,
bearing: 286.009890 deg,
approach rate: -0.637330 m/s,
LOS rate: -0.083299 deg/s,
cmd heading: 296.934360 deg,
new cmd heading: 296.826862 deg.
2025-06-05T06:01:13.735Z,1749103273.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180606 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:13.876Z,1749103273.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729437
2025-06-05T06:01:14.130Z,1749103274.130 [DAT](INFO): DAT read: Rx Time:06:01:12.8276
2025-06-05T06:01:14.132Z,1749103274.132 [DAT](INFO): Rx dataTimestamp_ set to:1749103274.130730
2025-06-05T06:01:14.133Z,1749103274.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986148
2025-06-05T06:01:14.156Z,1749103274.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:14.163Z,1749103274.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 115.950417 m,
bearing: 285.977391 deg,
approach rate: -0.580597 m/s,
LOS rate: -0.076009 deg/s,
cmd heading: 296.826853 deg,
new cmd heading: 296.729149 deg.
2025-06-05T06:01:14.164Z,1749103274.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.178901 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:14.379Z,1749103274.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232280
2025-06-05T06:01:14.529Z,1749103274.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:14.552Z,1749103274.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 115.659409 m,
bearing: 285.939097 deg,
approach rate: -0.780567 m/s,
LOS rate: -0.102975 deg/s,
cmd heading: 296.729154 deg,
new cmd heading: 296.613982 deg.
2025-06-05T06:01:14.560Z,1749103274.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176890 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:14.637Z,1749103274.637 [DAT](INFO): DAT read: 06:01:12.8276 LVL= 25728, 26993, 19346, 28627, AGC= 64, IDX= 410, 0.11,-2.420, 2.648,-2.090,-2.842, PHS= 0.510,-0.746, 0.749, RAW= 158.6, -7.4, CAL= 163.0, -14.8, ROT= 347.0, 14.8
2025-06-05T06:01:14.638Z,1749103274.638 [DAT](INFO): got valid direction response:
06:01:12.8276 LVL= 25728, 26993, 19346, 28627, AGC= 64, IDX= 410, 0.11,-2.420, 2.648,-2.090,-2.842, PHS= 0.510,-0.746, 0.749, RAW= 158.6, -7.4, CAL= 163.0, -14.8, ROT= 347.0, 14.8
2025-06-05T06:01:14.639Z,1749103274.639 [DAT](INFO): DAT read: Bearing 347.0, 14.8 (Local)
2025-06-05T06:01:14.640Z,1749103274.640 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.0, 14.8 (Local)
2025-06-05T06:01:14.643Z,1749103274.643 [DAT](INFO): DAT read: Range 10 to 50 : 114.6 m (Round-trip 152.9 ms) speed 0.9 m/s
2025-06-05T06:01:14.644Z,1749103274.644 [DAT](INFO): DAT read: user:611>
2025-06-05T06:01:14.644Z,1749103274.644 [DAT](INFO): DAT read: Tx time:06:01:13.9206
2025-06-05T06:01:14.645Z,1749103274.645 [DAT](INFO): Ping request sent.
2025-06-05T06:01:14.645Z,1749103274.645 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:01:14.645Z,1749103274.645 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:01:14.647Z,1749103274.647 [DAT](INFO): direction in FSK: [0.942044,-0.217488,-0.255446]
2025-06-05T06:01:14.647Z,1749103274.647 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:14.647Z,1749103274.647 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:14.650Z,1749103274.650 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:14.650Z,1749103274.650 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:14.883Z,1749103274.883 [DAT](INFO): DAT read: TxSync time:06:01:13.9198
2025-06-05T06:01:14.952Z,1749103274.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 114.599998 m,
deltaT: 7.308222 s,
deltaX: -52.599998 m,
approachRate: -7.197373 m/s,
rangeRepo size: 4
2025-06-05T06:01:14.953Z,1749103274.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:14.961Z,1749103274.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 115.392448 m,
bearing: 285.903890 deg,
approach rate: -0.631787 m/s,
LOS rate: -0.083515 deg/s,
cmd heading: 296.613969 deg,
new cmd heading: 296.508103 deg.
2025-06-05T06:01:14.962Z,1749103274.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.175043 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:15.346Z,1749103275.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:15.349Z,1749103275.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:15.352Z,1749103275.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 115.111389 m,
bearing: 285.870468 deg,
approach rate: -0.707201 m/s,
LOS rate: -0.084302 deg/s,
cmd heading: 296.508101 deg,
new cmd heading: 296.407591 deg.
2025-06-05T06:01:15.353Z,1749103275.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.173288 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:15.387Z,1749103275.387 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:15.387Z,1749103275.387 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:15.387Z,1749103275.387 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:15.639Z,1749103275.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994270
2025-06-05T06:01:15.728Z,1749103275.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:15.747Z,1749103275.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 114.854607 m,
bearing: 285.839849 deg,
approach rate: -0.676734 m/s,
LOS rate: -0.080875 deg/s,
cmd heading: 296.407588 deg,
new cmd heading: 296.315526 deg.
2025-06-05T06:01:15.748Z,1749103275.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.171681 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:15.892Z,1749103275.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247001
2025-06-05T06:01:16.147Z,1749103276.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501947
2025-06-05T06:01:16.228Z,1749103276.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:16.231Z,1749103276.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 114.510239 m,
bearing: 285.802266 deg,
approach rate: -0.688293 m/s,
LOS rate: -0.075342 deg/s,
cmd heading: 296.315517 deg,
new cmd heading: 296.202431 deg.
2025-06-05T06:01:16.232Z,1749103276.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.169708 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:16.395Z,1749103276.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750251
2025-06-05T06:01:16.556Z,1749103276.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:16.580Z,1749103276.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 114.285782 m,
bearing: 285.777578 deg,
approach rate: -0.684864 m/s,
LOS rate: -0.075477 deg/s,
cmd heading: 296.202437 deg,
new cmd heading: 296.128227 deg.
2025-06-05T06:01:16.581Z,1749103276.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.168413 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:16.648Z,1749103276.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002740
2025-06-05T06:01:16.899Z,1749103276.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254297
2025-06-05T06:01:16.963Z,1749103276.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:16.966Z,1749103276.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 114.008690 m,
bearing: 285.747001 deg,
approach rate: -0.682365 m/s,
LOS rate: -0.075481 deg/s,
cmd heading: 296.128234 deg,
new cmd heading: 296.036280 deg.
2025-06-05T06:01:16.967Z,1749103276.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166808 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:17.155Z,1749103277.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509212
2025-06-05T06:01:17.401Z,1749103277.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:17.403Z,1749103277.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758411
2025-06-05T06:01:17.405Z,1749103277.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:17.409Z,1749103277.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 113.704811 m,
bearing: 285.717639 deg,
approach rate: -0.687114 m/s,
LOS rate: -0.066569 deg/s,
cmd heading: 296.036272 deg,
new cmd heading: 295.947951 deg.
2025-06-05T06:01:17.411Z,1749103277.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.165266 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:17.655Z,1749103277.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010453
2025-06-05T06:01:17.782Z,1749103277.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:17.785Z,1749103277.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 113.445473 m,
bearing: 285.692864 deg,
approach rate: -0.687962 m/s,
LOS rate: -0.065874 deg/s,
cmd heading: 295.947944 deg,
new cmd heading: 295.873448 deg.
2025-06-05T06:01:17.786Z,1749103277.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.163966 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:17.907Z,1749103277.907 [DAT](INFO): DAT read: Rx Time:06:01:16.4742
2025-06-05T06:01:17.908Z,1749103277.908 [DAT](INFO): Rx dataTimestamp_ set to:1749103277.907715
2025-06-05T06:01:17.910Z,1749103277.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264888
2025-06-05T06:01:18.163Z,1749103278.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517248
2025-06-05T06:01:18.327Z,1749103278.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.95 m.
2025-06-05T06:01:18.329Z,1749103278.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 167.947464 m,
nav range: 113.073608 m,
bearing: 285.667517 deg,
approach rate: -0.687947 m/s,
LOS rate: -0.047046 deg/s,
cmd heading: 295.873440 deg,
new cmd heading: 295.797149 deg.
2025-06-05T06:01:18.335Z,1749103278.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.162634 target range: 167.947464 and range: 167.20 m.
2025-06-05T06:01:18.421Z,1749103278.421 [DAT](INFO): DAT read: 06:01:16.4742 LVL= 29520, 25873, 23746, 32307, AGC= 65, IDX= 406,-0.02,-2.662, 2.374,-2.338, 3.131, PHS= 0.578,-0.710, 0.811, RAW= 158.2, -9.6, CAL= 163.3, -16.7, ROT= 346.7, 16.7
2025-06-05T06:01:18.423Z,1749103278.423 [DAT](INFO): got valid direction response:
06:01:16.4742 LVL= 29520, 25873, 23746, 32307, AGC= 65, IDX= 406,-0.02,-2.662, 2.374,-2.338, 3.131, PHS= 0.578,-0.710, 0.811, RAW= 158.2, -9.6, CAL= 163.3, -16.7, ROT= 346.7, 16.7
2025-06-05T06:01:18.425Z,1749103278.425 [DAT](INFO): DAT read: Bearing 346.7, 16.7 (Local)
2025-06-05T06:01:18.426Z,1749103278.426 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.7, 16.7 (Local)
2025-06-05T06:01:18.429Z,1749103278.429 [DAT](INFO): DAT read: Range 10 to 50 : 112.0 m (Round-trip 149.4 ms) speed 0.0 m/s
2025-06-05T06:01:18.430Z,1749103278.430 [DAT](INFO): DAT read: user:612>
2025-06-05T06:01:18.433Z,1749103278.433 [DAT](INFO): DAT read: Tx time:06:01:17.5707
2025-06-05T06:01:18.433Z,1749103278.433 [DAT](INFO): Ping request sent.
2025-06-05T06:01:18.434Z,1749103278.434 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:01:18.435Z,1749103278.435 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:01:18.437Z,1749103278.437 [DAT](INFO): direction in FSK: [0.932133,-0.220346,-0.287361]
2025-06-05T06:01:18.446Z,1749103278.446 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:18.447Z,1749103278.447 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:18.449Z,1749103278.449 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:18.450Z,1749103278.450 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:18.663Z,1749103278.663 [DAT](INFO): DAT read: TxSync time:06:01:17.5699
2025-06-05T06:01:18.741Z,1749103278.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 112.000000 m,
deltaT: 11.088766 s,
deltaX: -55.199997 m,
approachRate: -4.978011 m/s,
rangeRepo size: 4
2025-06-05T06:01:18.748Z,1749103278.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 111.160065 m,
bearing: 282.765353 deg,
lat: 36.906096 deg,
lon: -122.116065 deg,
deltaT: 14.616749 s,
deltaX: -56.787399 m,
approachRate: -3.885091 m/s,
posRepo size: 4
2025-06-05T06:01:18.749Z,1749103278.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.16 m.
2025-06-05T06:01:18.756Z,1749103278.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.160065 m,
nav range: 110.696037 m,
bearing: 283.210630 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.047046 deg/s,
cmd heading: 295.797161 deg,
new cmd heading: 295.738173 deg.
2025-06-05T06:01:18.757Z,1749103278.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.161605 target range: 111.160065 and range: 112.00 m.
2025-06-05T06:01:19.047Z,1749103279.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.16 m.
2025-06-05T06:01:19.049Z,1749103279.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.160065 m,
nav range: 110.454559 m,
bearing: 283.188859 deg,
approach rate: -0.787278 m/s,
LOS rate: -0.071134 deg/s,
cmd heading: 295.738175 deg,
new cmd heading: 295.672720 deg.
2025-06-05T06:01:19.069Z,1749103279.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160462 target range: 111.160065 and range: 112.00 m.
2025-06-05T06:01:19.483Z,1749103279.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:19.487Z,1749103279.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.16 m.
2025-06-05T06:01:19.493Z,1749103279.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.160065 m,
nav range: 110.150703 m,
bearing: 283.171108 deg,
approach rate: -0.691224 m/s,
LOS rate: -0.040493 deg/s,
cmd heading: 295.672715 deg,
new cmd heading: 295.619314 deg.
2025-06-05T06:01:19.495Z,1749103279.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.159530 target range: 111.160065 and range: 112.00 m.
2025-06-05T06:01:19.676Z,1749103279.676 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:19.676Z,1749103279.676 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:19.677Z,1749103279.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:19.864Z,1749103279.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.16 m.
2025-06-05T06:01:19.867Z,1749103279.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.160065 m,
nav range: 109.889130 m,
bearing: 283.156406 deg,
approach rate: -0.692306 m/s,
LOS rate: -0.039004 deg/s,
cmd heading: 295.619303 deg,
new cmd heading: 295.575091 deg.
2025-06-05T06:01:19.868Z,1749103279.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.158759 target range: 111.160065 and range: 112.00 m.
2025-06-05T06:01:19.929Z,1749103279.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494974
2025-06-05T06:01:20.183Z,1749103280.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748647
2025-06-05T06:01:20.288Z,1749103280.288 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T06:01:20.373Z,1749103280.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.16 m.
2025-06-05T06:01:20.380Z,1749103280.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.160065 m,
nav range: 109.547356 m,
bearing: 283.143416 deg,
approach rate: -0.671879 m/s,
LOS rate: -0.025616 deg/s,
cmd heading: 295.575098 deg,
new cmd heading: 295.536006 deg.
2025-06-05T06:01:20.381Z,1749103280.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.158076 target range: 111.160065 and range: 112.00 m.
2025-06-05T06:01:20.432Z,1749103280.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998955
2025-06-05T06:01:20.683Z,1749103280.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249931
2025-06-05T06:01:20.852Z,1749103280.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.16 m.
2025-06-05T06:01:20.866Z,1749103280.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.160065 m,
nav range: 109.217834 m,
bearing: 283.131541 deg,
approach rate: -0.688170 m/s,
LOS rate: -0.024874 deg/s,
cmd heading: 295.536002 deg,
new cmd heading: 295.500270 deg.
2025-06-05T06:01:20.867Z,1749103280.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.157453 target range: 111.160065 and range: 112.00 m.
2025-06-05T06:01:20.936Z,1749103280.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502910
2025-06-05T06:01:21.149Z,1749103281.149 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:01:21.187Z,1749103281.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754117
2025-06-05T06:01:21.365Z,1749103281.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.16 m.
2025-06-05T06:01:21.372Z,1749103281.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.160065 m,
nav range: 108.868767 m,
bearing: 283.122625 deg,
approach rate: -0.680433 m/s,
LOS rate: -0.017436 deg/s,
cmd heading: 295.500266 deg,
new cmd heading: 295.473431 deg.
2025-06-05T06:01:21.373Z,1749103281.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.156984 target range: 111.160065 and range: 112.00 m.
2025-06-05T06:01:21.444Z,1749103281.444 [DAT](INFO): DAT read: Rx Time:06:01:20.1208
2025-06-05T06:01:21.444Z,1749103281.444 [DAT](INFO): Rx dataTimestamp_ set to:1749103281.444067
2025-06-05T06:01:21.445Z,1749103281.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011750
2025-06-05T06:01:21.695Z,1749103281.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261868
2025-06-05T06:01:21.813Z,1749103281.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:21.816Z,1749103281.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.16 m.
2025-06-05T06:01:21.819Z,1749103281.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.160065 m,
nav range: 108.571983 m,
bearing: 283.115232 deg,
approach rate: -0.657088 m/s,
LOS rate: -0.016413 deg/s,
cmd heading: 295.473437 deg,
new cmd heading: 295.451198 deg.
2025-06-05T06:01:21.820Z,1749103281.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.156596 target range: 111.160065 and range: 112.00 m.
2025-06-05T06:01:21.953Z,1749103281.953 [DAT](INFO): DAT read: 06:01:20.1208 LVL= 24816, 32241, 20738, 32755, AGC= 65, IDX= 404, 0.08,-0.801,-1.929,-0.499,-1.297, PHS= 0.584,-0.585, 0.795, RAW= 158.1, -12.3, CAL= 164.0, -18.9, ROT= 346.0, 18.9
2025-06-05T06:01:21.954Z,1749103281.954 [DAT](INFO): got valid direction response:
06:01:20.1208 LVL= 24816, 32241, 20738, 32755, AGC= 65, IDX= 404, 0.08,-0.801,-1.929,-0.499,-1.297, PHS= 0.584,-0.585, 0.795, RAW= 158.1, -12.3, CAL= 164.0, -18.9, ROT= 346.0, 18.9
2025-06-05T06:01:21.955Z,1749103281.955 [DAT](INFO): DAT read: Bearing 346.0, 18.9 (Local)
2025-06-05T06:01:21.956Z,1749103281.956 [DAT](INFO): Local bearing/azimuth received:
Bearing 346.0, 18.9 (Local)
2025-06-05T06:01:21.957Z,1749103281.957 [DAT](INFO): DAT read: Range 10 to 50 : 109.5 m (Round-trip 146.0 ms) speed 0.6 m/s
2025-06-05T06:01:21.959Z,1749103281.959 [DAT](INFO): DAT read: user:613>
2025-06-05T06:01:21.960Z,1749103281.960 [DAT](INFO): DAT read: Tx time:06:01:21.2207
2025-06-05T06:01:21.960Z,1749103281.960 [DAT](INFO): Ping request sent.
2025-06-05T06:01:21.960Z,1749103281.960 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:01:21.961Z,1749103281.961 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:01:21.962Z,1749103281.962 [DAT](INFO): direction in FSK: [0.917983,-0.228879,-0.323917]
2025-06-05T06:01:21.963Z,1749103281.963 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:21.963Z,1749103281.963 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:21.975Z,1749103281.975 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:21.976Z,1749103281.976 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:22.151Z,1749103282.151 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:01:22.202Z,1749103282.202 [DAT](INFO): DAT read: TxSync time:06:01:21.2199
2025-06-05T06:01:22.286Z,1749103282.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 109.500000 m,
deltaT: 3.535298 s,
deltaX: -2.500000 m,
approachRate: -0.707154 m/s,
rangeRepo size: 4
2025-06-05T06:01:22.289Z,1749103282.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 108.676949 m,
bearing: 281.371349 deg,
lat: 36.906096 deg,
lon: -122.116065 deg,
deltaT: 3.535298 s,
deltaX: -2.483116 m,
approachRate: -0.702378 m/s,
posRepo size: 4
2025-06-05T06:01:22.289Z,1749103282.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.68 m.
2025-06-05T06:01:22.296Z,1749103282.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.676949 m,
nav range: 108.285744 m,
bearing: 283.108162 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016413 deg/s,
cmd heading: 295.451198 deg,
new cmd heading: 295.428352 deg.
2025-06-05T06:01:22.297Z,1749103282.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.156198 target range: 108.676949 and range: 109.50 m.
2025-06-05T06:01:22.671Z,1749103282.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.68 m.
2025-06-05T06:01:22.673Z,1749103282.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.676949 m,
nav range: 107.997307 m,
bearing: 283.099784 deg,
approach rate: -0.739540 m/s,
LOS rate: -0.021538 deg/s,
cmd heading: 295.428358 deg,
new cmd heading: 295.403157 deg.
2025-06-05T06:01:22.675Z,1749103282.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.155758 target range: 108.676949 and range: 109.50 m.
2025-06-05T06:01:23.033Z,1749103283.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.68 m.
2025-06-05T06:01:23.056Z,1749103283.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.676949 m,
nav range: 107.765282 m,
bearing: 283.093284 deg,
approach rate: -0.640550 m/s,
LOS rate: -0.017984 deg/s,
cmd heading: 295.403168 deg,
new cmd heading: 295.383625 deg.
2025-06-05T06:01:23.057Z,1749103283.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.155417 target range: 108.676949 and range: 109.50 m.
2025-06-05T06:01:23.555Z,1749103283.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.68 m.
2025-06-05T06:01:23.559Z,1749103283.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.676949 m,
nav range: 107.434906 m,
bearing: 283.083378 deg,
approach rate: -0.632539 m/s,
LOS rate: -0.019024 deg/s,
cmd heading: 295.383634 deg,
new cmd heading: 295.353826 deg.
2025-06-05T06:01:23.560Z,1749103283.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154897 target range: 108.676949 and range: 109.50 m.
2025-06-05T06:01:23.920Z,1749103283.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:23.922Z,1749103283.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.68 m.
2025-06-05T06:01:23.939Z,1749103283.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.676949 m,
nav range: 107.204018 m,
bearing: 283.076280 deg,
approach rate: -0.628999 m/s,
LOS rate: -0.019379 deg/s,
cmd heading: 295.353827 deg,
new cmd heading: 295.332486 deg.
2025-06-05T06:01:23.940Z,1749103283.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154524 target range: 108.676949 and range: 109.50 m.
2025-06-05T06:01:23.964Z,1749103283.964 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:23.964Z,1749103283.964 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:23.964Z,1749103283.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:24.215Z,1749103284.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254776
2025-06-05T06:01:24.419Z,1749103284.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.68 m.
2025-06-05T06:01:24.422Z,1749103284.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.676949 m,
nav range: 106.891251 m,
bearing: 283.058738 deg,
approach rate: -0.629163 m/s,
LOS rate: -0.035390 deg/s,
cmd heading: 295.332489 deg,
new cmd heading: 295.279711 deg.
2025-06-05T06:01:24.424Z,1749103284.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.153603 target range: 108.676949 and range: 109.50 m.
2025-06-05T06:01:24.467Z,1749103284.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506683
2025-06-05T06:01:24.719Z,1749103284.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758677
2025-06-05T06:01:24.844Z,1749103284.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.68 m.
2025-06-05T06:01:24.847Z,1749103284.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.676949 m,
nav range: 106.625916 m,
bearing: 283.043642 deg,
approach rate: -0.624554 m/s,
LOS rate: -0.035622 deg/s,
cmd heading: 295.279706 deg,
new cmd heading: 295.234305 deg.
2025-06-05T06:01:24.848Z,1749103284.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152811 target range: 108.676949 and range: 109.50 m.
2025-06-05T06:01:24.977Z,1749103284.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016279
2025-06-05T06:01:25.227Z,1749103285.227 [DAT](INFO): DAT read: Rx Time:06:01:23.7676
2025-06-05T06:01:25.228Z,1749103285.228 [DAT](INFO): Rx dataTimestamp_ set to:1749103285.227507
2025-06-05T06:01:25.228Z,1749103285.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267961
2025-06-05T06:01:25.448Z,1749103285.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.68 m.
2025-06-05T06:01:25.450Z,1749103285.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.676949 m,
nav range: 106.243317 m,
bearing: 283.008364 deg,
approach rate: -0.633871 m/s,
LOS rate: -0.058658 deg/s,
cmd heading: 295.234298 deg,
new cmd heading: 295.128082 deg.
2025-06-05T06:01:25.451Z,1749103285.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.150957 target range: 108.676949 and range: 109.50 m.
2025-06-05T06:01:25.479Z,1749103285.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518655
2025-06-05T06:01:25.741Z,1749103285.741 [DAT](INFO): DAT read: 06:01:23.7676 LVL= 31216, 32753, 22642, 32099, AGC= 63, IDX= 403,-0.28,-1.820,-3.131,-1.564,-2.417, PHS= 0.684,-0.667, 0.850, RAW= 155.7, -12.0, CAL= 161.9, -18.9, ROT= 348.1, 18.9
2025-06-05T06:01:25.744Z,1749103285.744 [DAT](INFO): got valid direction response:
06:01:23.7676 LVL= 31216, 32753, 22642, 32099, AGC= 63, IDX= 403,-0.28,-1.820,-3.131,-1.564,-2.417, PHS= 0.684,-0.667, 0.850, RAW= 155.7, -12.0, CAL= 161.9, -18.9, ROT= 348.1, 18.9
2025-06-05T06:01:25.745Z,1749103285.745 [DAT](INFO): DAT read: Bearing 348.1, 18.9 (Local)
2025-06-05T06:01:25.745Z,1749103285.745 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.1, 18.9 (Local)
2025-06-05T06:01:25.751Z,1749103285.751 [DAT](INFO): DAT read: Range 10 to 50 : 107.1 m (Round-trip 142.8 ms) speed 0.2 m/s
2025-06-05T06:01:25.752Z,1749103285.752 [DAT](INFO): DAT read: user:614>
2025-06-05T06:01:25.753Z,1749103285.753 [DAT](INFO): DAT read: Tx time:06:01:24.8707
2025-06-05T06:01:25.753Z,1749103285.753 [DAT](INFO): Ping request sent.
2025-06-05T06:01:25.753Z,1749103285.753 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:01:25.754Z,1749103285.754 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:01:25.755Z,1749103285.755 [DAT](INFO): direction in FSK: [0.925753,-0.195086,-0.323917]
2025-06-05T06:01:25.755Z,1749103285.755 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:25.756Z,1749103285.756 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:25.761Z,1749103285.761 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:25.761Z,1749103285.761 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:25.949Z,1749103285.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 107.099998 m,
deltaT: 3.783814 s,
deltaX: -2.400002 m,
approachRate: -0.634281 m/s,
rangeRepo size: 4
2025-06-05T06:01:25.956Z,1749103285.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 106.293610 m,
bearing: 283.844680 deg,
lat: 36.906096 deg,
lon: -122.116065 deg,
deltaT: 3.783814 s,
deltaX: -2.383339 m,
approachRate: -0.629877 m/s,
posRepo size: 4
2025-06-05T06:01:25.956Z,1749103285.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.29 m.
2025-06-05T06:01:25.964Z,1749103285.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.293610 m,
nav range: 105.945053 m,
bearing: 282.980306 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.058658 deg/s,
cmd heading: 295.128075 deg,
new cmd heading: 295.039895 deg.
2025-06-05T06:01:25.965Z,1749103285.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.149417 target range: 106.293610 and range: 107.10 m.
2025-06-05T06:01:25.983Z,1749103285.983 [DAT](INFO): DAT read: TxSync time:06:01:24.8699
2025-06-05T06:01:26.341Z,1749103286.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:26.354Z,1749103286.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.29 m.
2025-06-05T06:01:26.357Z,1749103286.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.293610 m,
nav range: 105.673325 m,
bearing: 282.954766 deg,
approach rate: -0.677180 m/s,
LOS rate: -0.063812 deg/s,
cmd heading: 295.039884 deg,
new cmd heading: 294.963067 deg.
2025-06-05T06:01:26.358Z,1749103286.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.148077 target range: 106.293610 and range: 107.10 m.
2025-06-05T06:01:26.488Z,1749103286.488 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:26.488Z,1749103286.488 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:26.488Z,1749103286.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:26.702Z,1749103286.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.29 m.
2025-06-05T06:01:26.705Z,1749103286.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.293610 m,
nav range: 105.440010 m,
bearing: 282.925045 deg,
approach rate: -0.662972 m/s,
LOS rate: -0.084642 deg/s,
cmd heading: 294.963058 deg,
new cmd heading: 294.873696 deg.
2025-06-05T06:01:26.706Z,1749103286.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.146517 target range: 106.293610 and range: 107.10 m.
2025-06-05T06:01:26.741Z,1749103286.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987255
2025-06-05T06:01:26.992Z,1749103286.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238261
2025-06-05T06:01:27.080Z,1749103287.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.29 m.
2025-06-05T06:01:27.083Z,1749103287.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.293610 m,
nav range: 105.194557 m,
bearing: 282.893458 deg,
approach rate: -0.648415 m/s,
LOS rate: -0.083638 deg/s,
cmd heading: 294.873692 deg,
new cmd heading: 294.778710 deg.
2025-06-05T06:01:27.084Z,1749103287.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.144859 target range: 106.293610 and range: 107.10 m.
2025-06-05T06:01:27.245Z,1749103287.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491237
2025-06-05T06:01:27.495Z,1749103287.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741953
2025-06-05T06:01:27.512Z,1749103287.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.29 m.
2025-06-05T06:01:27.517Z,1749103287.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.293610 m,
nav range: 104.903290 m,
bearing: 282.846300 deg,
approach rate: -0.674806 m/s,
LOS rate: -0.109559 deg/s,
cmd heading: 294.778698 deg,
new cmd heading: 294.636830 deg.
2025-06-05T06:01:27.519Z,1749103287.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.142383 target range: 106.293610 and range: 107.10 m.
2025-06-05T06:01:27.748Z,1749103287.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994433
2025-06-05T06:01:27.919Z,1749103287.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.29 m.
2025-06-05T06:01:27.922Z,1749103287.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.293610 m,
nav range: 104.643425 m,
bearing: 282.803998 deg,
approach rate: -0.638350 m/s,
LOS rate: -0.104170 deg/s,
cmd heading: 294.636821 deg,
new cmd heading: 294.509602 deg.
2025-06-05T06:01:27.928Z,1749103287.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.140162 target range: 106.293610 and range: 107.10 m.
2025-06-05T06:01:27.000Z,1749103288.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246404
2025-06-05T06:01:28.251Z,1749103288.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497823
2025-06-05T06:01:28.376Z,1749103288.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:28.384Z,1749103288.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.29 m.
2025-06-05T06:01:28.391Z,1749103288.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.293610 m,
nav range: 104.321526 m,
bearing: 282.751327 deg,
approach rate: -0.692104 m/s,
LOS rate: -0.113596 deg/s,
cmd heading: 294.509588 deg,
new cmd heading: 294.351087 deg.
2025-06-05T06:01:28.392Z,1749103288.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.137395 target range: 106.293610 and range: 107.10 m.
2025-06-05T06:01:28.504Z,1749103288.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750729
2025-06-05T06:01:28.748Z,1749103288.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.29 m.
2025-06-05T06:01:28.755Z,1749103288.755 [DAT](INFO): DAT read: Rx Time:06:01:27.4141
2025-06-05T06:01:28.756Z,1749103288.756 [DAT](INFO): Rx dataTimestamp_ set to:1749103288.755655
2025-06-05T06:01:28.756Z,1749103288.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003216
2025-06-05T06:01:28.771Z,1749103288.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.293610 m,
nav range: 104.058228 m,
bearing: 282.704338 deg,
approach rate: -0.723851 m/s,
LOS rate: -0.129506 deg/s,
cmd heading: 294.351073 deg,
new cmd heading: 294.209751 deg.
2025-06-05T06:01:28.772Z,1749103288.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.134929 target range: 106.293610 and range: 107.10 m.
2025-06-05T06:01:29.011Z,1749103289.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257639
2025-06-05T06:01:29.111Z,1749103289.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.29 m.
2025-06-05T06:01:29.113Z,1749103289.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.293610 m,
nav range: 103.817169 m,
bearing: 282.661282 deg,
approach rate: -0.704462 m/s,
LOS rate: -0.126119 deg/s,
cmd heading: 294.209743 deg,
new cmd heading: 294.080274 deg.
2025-06-05T06:01:29.114Z,1749103289.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.132669 target range: 106.293610 and range: 107.10 m.
2025-06-05T06:01:29.266Z,1749103289.266 [DAT](INFO): DAT read: 06:01:27.4141 LVL= 23744, 25457, 16962, 24803, AGC= 65, IDX= 399,-0.02, 1.730, 0.418, 2.045, 1.294, PHS= 0.524,-0.828, 0.749, RAW= 157.6, -6.1, CAL= 161.7, -13.8, ROT= 348.3, 13.8
2025-06-05T06:01:29.267Z,1749103289.267 [DAT](INFO): got valid direction response:
06:01:27.4141 LVL= 23744, 25457, 16962, 24803, AGC= 65, IDX= 399,-0.02, 1.730, 0.418, 2.045, 1.294, PHS= 0.524,-0.828, 0.749, RAW= 157.6, -6.1, CAL= 161.7, -13.8, ROT= 348.3, 13.8
2025-06-05T06:01:29.269Z,1749103289.269 [DAT](INFO): DAT read: Bearing 348.3, 13.8 (Local)
2025-06-05T06:01:29.269Z,1749103289.269 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.3, 13.8 (Local)
2025-06-05T06:01:29.272Z,1749103289.272 [DAT](INFO): DAT read: Range 10 to 50 : 104.4 m (Round-trip 139.3 ms) speed 0.4 m/s
2025-06-05T06:01:29.273Z,1749103289.273 [DAT](INFO): DAT read: user:615>
2025-06-05T06:01:29.276Z,1749103289.276 [DAT](INFO): DAT read: Tx time:06:01:28.5207
2025-06-05T06:01:29.277Z,1749103289.277 [DAT](INFO): Ping request sent.
2025-06-05T06:01:29.277Z,1749103289.277 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:01:29.277Z,1749103289.277 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:01:29.280Z,1749103289.280 [DAT](INFO): direction in FSK: [0.950957,-0.196934,-0.238533]
2025-06-05T06:01:29.280Z,1749103289.280 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:29.280Z,1749103289.280 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:29.283Z,1749103289.283 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:29.284Z,1749103289.284 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:29.512Z,1749103289.512 [DAT](INFO): DAT read: TxSync time:06:01:28.5199
2025-06-05T06:01:29.662Z,1749103289.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 104.400002 m,
deltaT: 3.529433 s,
deltaX: -2.699997 m,
approachRate: -0.764995 m/s,
rangeRepo size: 4
2025-06-05T06:01:29.664Z,1749103289.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 103.610687 m,
bearing: 283.421952 deg,
lat: 36.906098 deg,
lon: -122.116065 deg,
deltaT: 3.529433 s,
deltaX: -2.682922 m,
approachRate: -0.760157 m/s,
posRepo size: 4
2025-06-05T06:01:29.664Z,1749103289.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.61 m.
2025-06-05T06:01:29.667Z,1749103289.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.610687 m,
nav range: 103.439537 m,
bearing: 282.713065 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.126119 deg/s,
cmd heading: 294.080270 deg,
new cmd heading: 293.864269 deg.
2025-06-05T06:01:29.668Z,1749103289.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128899 target range: 103.610687 and range: 104.40 m.
2025-06-05T06:01:29.972Z,1749103289.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.61 m.
2025-06-05T06:01:29.976Z,1749103289.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.610687 m,
nav range: 103.216331 m,
bearing: 282.673414 deg,
approach rate: -0.718116 m/s,
LOS rate: -0.127846 deg/s,
cmd heading: 293.864272 deg,
new cmd heading: 293.745061 deg.
2025-06-05T06:01:29.977Z,1749103289.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126819 target range: 103.610687 and range: 104.40 m.
2025-06-05T06:01:30.462Z,1749103290.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:30.464Z,1749103290.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.61 m.
2025-06-05T06:01:30.473Z,1749103290.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.610687 m,
nav range: 102.874428 m,
bearing: 282.617874 deg,
approach rate: -0.694194 m/s,
LOS rate: -0.113141 deg/s,
cmd heading: 293.745071 deg,
new cmd heading: 293.577900 deg.
2025-06-05T06:01:30.481Z,1749103290.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.123901 target range: 103.610687 and range: 104.40 m.
2025-06-05T06:01:30.520Z,1749103290.520 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:30.520Z,1749103290.520 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:30.521Z,1749103290.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:30.771Z,1749103290.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494366
2025-06-05T06:01:30.846Z,1749103290.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.61 m.
2025-06-05T06:01:30.849Z,1749103290.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.610687 m,
nav range: 102.594780 m,
bearing: 282.572161 deg,
approach rate: -0.732918 m/s,
LOS rate: -0.120133 deg/s,
cmd heading: 293.577896 deg,
new cmd heading: 293.440384 deg.
2025-06-05T06:01:30.850Z,1749103290.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.121501 target range: 103.610687 and range: 104.40 m.
2025-06-05T06:01:31.024Z,1749103291.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746709
2025-06-05T06:01:31.256Z,1749103291.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.61 m.
2025-06-05T06:01:31.265Z,1749103291.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.610687 m,
nav range: 102.315399 m,
bearing: 282.527049 deg,
approach rate: -0.684175 m/s,
LOS rate: -0.110778 deg/s,
cmd heading: 293.440390 deg,
new cmd heading: 293.304683 deg.
2025-06-05T06:01:31.272Z,1749103291.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.119133 target range: 103.610687 and range: 104.40 m.
2025-06-05T06:01:31.277Z,1749103291.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999782
2025-06-05T06:01:31.528Z,1749103291.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250492
2025-06-05T06:01:31.667Z,1749103291.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.61 m.
2025-06-05T06:01:31.669Z,1749103291.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.610687 m,
nav range: 102.015984 m,
bearing: 282.484742 deg,
approach rate: -0.726490 m/s,
LOS rate: -0.102953 deg/s,
cmd heading: 293.304688 deg,
new cmd heading: 293.177395 deg.
2025-06-05T06:01:31.670Z,1749103291.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.116911 target range: 103.610687 and range: 104.40 m.
2025-06-05T06:01:31.780Z,1749103291.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503278
2025-06-05T06:01:32.031Z,1749103292.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754149
2025-06-05T06:01:32.048Z,1749103292.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.61 m.
2025-06-05T06:01:32.050Z,1749103292.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.610687 m,
nav range: 101.749695 m,
bearing: 282.447070 deg,
approach rate: -0.698499 m/s,
LOS rate: -0.099076 deg/s,
cmd heading: 293.177401 deg,
new cmd heading: 293.064089 deg.
2025-06-05T06:01:32.051Z,1749103292.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.114933 target range: 103.610687 and range: 104.40 m.
2025-06-05T06:01:32.283Z,1749103292.283 [DAT](INFO): DAT read: Rx Time:06:01:31.0607
2025-06-05T06:01:32.284Z,1749103292.284 [DAT](INFO): Rx dataTimestamp_ set to:1749103292.283397
2025-06-05T06:01:32.284Z,1749103292.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007143
2025-06-05T06:01:32.479Z,1749103292.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:32.481Z,1749103292.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.61 m.
2025-06-05T06:01:32.486Z,1749103292.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.610687 m,
nav range: 101.455856 m,
bearing: 282.414306 deg,
approach rate: -0.677975 m/s,
LOS rate: -0.075814 deg/s,
cmd heading: 293.064102 deg,
new cmd heading: 292.965527 deg.
2025-06-05T06:01:32.490Z,1749103292.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.113213 target range: 103.610687 and range: 104.40 m.
2025-06-05T06:01:32.535Z,1749103292.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258071
2025-06-05T06:01:32.789Z,1749103292.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511981
2025-06-05T06:01:32.904Z,1749103292.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.61 m.
2025-06-05T06:01:32.912Z,1749103292.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 103.610687 m,
nav range: 101.173340 m,
bearing: 282.382799 deg,
approach rate: -0.667061 m/s,
LOS rate: -0.074600 deg/s,
cmd heading: 292.965528 deg,
new cmd heading: 292.870743 deg.
2025-06-05T06:01:32.913Z,1749103292.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.111559 target range: 103.610687 and range: 104.40 m.
2025-06-05T06:01:33.047Z,1749103293.047 [DAT](INFO): DAT read: 06:01:31.0607 LVL= 21568, 25649, 14514, 24515, AGC= 65, IDX= 412, 0.18,-1.739,-3.097,-1.361,-2.061, PHS= 0.410,-0.988, 0.698, RAW= 159.2, -1.5, CAL= 161.9, -10.0, ROT= 348.1, 10.0
2025-06-05T06:01:33.048Z,1749103293.048 [DAT](INFO): got valid direction response:
06:01:31.0607 LVL= 21568, 25649, 14514, 24515, AGC= 65, IDX= 412, 0.18,-1.739,-3.097,-1.361,-2.061, PHS= 0.410,-0.988, 0.698, RAW= 159.2, -1.5, CAL= 161.9, -10.0, ROT= 348.1, 10.0
2025-06-05T06:01:33.049Z,1749103293.049 [DAT](INFO): DAT read: Bearing 348.1, 10.0 (Local)
2025-06-05T06:01:33.050Z,1749103293.050 [DAT](INFO): Local bearing/azimuth received:
Bearing 348.1, 10.0 (Local)
2025-06-05T06:01:33.052Z,1749103293.052 [DAT](INFO): DAT read: Range 10 to 50 : 101.9 m (Round-trip 135.9 ms) speed 0.5 m/s
2025-06-05T06:01:33.053Z,1749103293.053 [DAT](INFO): DAT read: user:616>
2025-06-05T06:01:33.053Z,1749103293.053 [DAT](INFO): DAT read: Tx time:06:01:32.1707
2025-06-05T06:01:33.054Z,1749103293.054 [DAT](INFO): Ping request sent.
2025-06-05T06:01:33.054Z,1749103293.054 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:01:33.055Z,1749103293.055 [DAT](INFO): DAT read: TxSync time:06:01:32.1699
2025-06-05T06:01:33.055Z,1749103293.055 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:01:33.056Z,1749103293.056 [DAT](INFO): direction in FSK: [0.963643,-0.203071,-0.173648]
2025-06-05T06:01:33.056Z,1749103293.056 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:33.057Z,1749103293.057 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:33.061Z,1749103293.061 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:33.062Z,1749103293.062 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:33.288Z,1749103293.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 101.900002 m,
deltaT: 3.779354 s,
deltaX: -2.500000 m,
approachRate: -0.661489 m/s,
rangeRepo size: 4
2025-06-05T06:01:33.294Z,1749103293.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 101.125244 m,
bearing: 281.879855 deg,
lat: 36.906091 deg,
lon: -122.116065 deg,
deltaT: 3.779354 s,
deltaX: -2.485443 m,
approachRate: -0.657637 m/s,
posRepo size: 4
2025-06-05T06:01:33.295Z,1749103293.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:33.298Z,1749103293.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 100.744316 m,
bearing: 281.889751 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.074600 deg/s,
cmd heading: 292.870753 deg,
new cmd heading: 292.785094 deg.
2025-06-05T06:01:33.303Z,1749103293.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.110064 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:33.815Z,1749103293.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:33.818Z,1749103293.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 100.394882 m,
bearing: 281.862825 deg,
approach rate: -0.662279 m/s,
LOS rate: -0.051211 deg/s,
cmd heading: 292.785102 deg,
new cmd heading: 292.704041 deg.
2025-06-05T06:01:33.823Z,1749103293.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.108649 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:34.177Z,1749103294.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:34.181Z,1749103294.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 100.144470 m,
bearing: 281.844193 deg,
approach rate: -0.694674 m/s,
LOS rate: -0.051816 deg/s,
cmd heading: 292.704041 deg,
new cmd heading: 292.648007 deg.
2025-06-05T06:01:34.182Z,1749103294.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.107671 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:34.672Z,1749103294.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:34.679Z,1749103294.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:34.682Z,1749103294.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 99.828995 m,
bearing: 281.833150 deg,
approach rate: -0.626589 m/s,
LOS rate: -0.022002 deg/s,
cmd heading: 292.648006 deg,
new cmd heading: 292.614773 deg.
2025-06-05T06:01:34.687Z,1749103294.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.107091 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:34.805Z,1749103294.805 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:34.805Z,1749103294.805 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:34.805Z,1749103294.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:35.022Z,1749103295.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:35.027Z,1749103295.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 99.604355 m,
bearing: 281.825114 deg,
approach rate: -0.654484 m/s,
LOS rate: -0.023467 deg/s,
cmd heading: 292.614784 deg,
new cmd heading: 292.590621 deg.
2025-06-05T06:01:35.028Z,1749103295.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.106670 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:35.055Z,1749103295.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001287
2025-06-05T06:01:35.307Z,1749103295.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253378
2025-06-05T06:01:35.519Z,1749103295.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:35.529Z,1749103295.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 99.306152 m,
bearing: 281.814306 deg,
approach rate: -0.606317 m/s,
LOS rate: -0.022040 deg/s,
cmd heading: 292.590633 deg,
new cmd heading: 292.558113 deg.
2025-06-05T06:01:35.530Z,1749103295.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.106102 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:35.564Z,1749103295.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507667
2025-06-05T06:01:35.812Z,1749103295.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757807
2025-06-05T06:01:35.918Z,1749103295.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:35.921Z,1749103295.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 99.040413 m,
bearing: 281.809395 deg,
approach rate: -0.684963 m/s,
LOS rate: -0.012692 deg/s,
cmd heading: 292.558121 deg,
new cmd heading: 292.543349 deg.
2025-06-05T06:01:35.926Z,1749103295.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.105844 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:36.064Z,1749103296.064 [DAT](INFO): DAT read: Rx Time:06:01:34.7464
2025-06-05T06:01:36.065Z,1749103296.065 [DAT](INFO): Rx dataTimestamp_ set to:1749103296.064585
2025-06-05T06:01:36.065Z,1749103296.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011634
2025-06-05T06:01:36.315Z,1749103296.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261359
2025-06-05T06:01:36.354Z,1749103296.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:36.357Z,1749103296.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 98.747223 m,
bearing: 281.803947 deg,
approach rate: -0.648280 m/s,
LOS rate: -0.012084 deg/s,
cmd heading: 292.543341 deg,
new cmd heading: 292.526945 deg.
2025-06-05T06:01:36.360Z,1749103296.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.105558 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:36.583Z,1749103296.583 [DAT](INFO): DAT read: 06:01:34.7464 LVL= 25472, 29585, 20642, 25939, AGC= 71, IDX= 296,-0.16,-2.148,-2.548,-1.721,-3.102, PHS= 1.041, 0.601, 1.377, RAW= 175.6, -57.7, CAL= 174.9, -53.4, ROT= 335.1, 53.4
2025-06-05T06:01:36.586Z,1749103296.586 [DAT](INFO): got valid direction response:
06:01:34.7464 LVL= 25472, 29585, 20642, 25939, AGC= 71, IDX= 296,-0.16,-2.148,-2.548,-1.721,-3.102, PHS= 1.041, 0.601, 1.377, RAW= 175.6, -57.7, CAL= 174.9, -53.4, ROT= 335.1, 53.4
2025-06-05T06:01:36.592Z,1749103296.592 [DAT](INFO): DAT read: Bearing 335.1, 53.4 (Local)
2025-06-05T06:01:36.593Z,1749103296.593 [DAT](INFO): Local bearing/azimuth received:
Bearing 335.1, 53.4 (Local)
2025-06-05T06:01:36.597Z,1749103296.597 [DAT](INFO): DAT read: Range 10 to 50 : 128.6 m (Round-trip 171.5 ms) speed 0.3 m/s
2025-06-05T06:01:36.597Z,1749103296.597 [DAT](INFO): DAT read: user:617>
2025-06-05T06:01:36.599Z,1749103296.599 [DAT](INFO): DAT read: Tx time:06:01:35.8708
2025-06-05T06:01:36.599Z,1749103296.599 [DAT](INFO): Ping request sent.
2025-06-05T06:01:36.599Z,1749103296.599 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:01:36.599Z,1749103296.599 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:01:36.600Z,1749103296.600 [DAT](INFO): direction in FSK: [0.540802,-0.251032,-0.802817]
2025-06-05T06:01:36.601Z,1749103296.601 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:36.601Z,1749103296.601 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:36.607Z,1749103296.607 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:36.608Z,1749103296.608 [DAT](INFO): publishing direction and range info
2025-06-05T06:01:36.819Z,1749103296.819 [DAT](INFO): DAT read: TxSync time:06:01:35.8700
2025-06-05T06:01:36.859Z,1749103296.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 128.600006 m,
deltaT: 3.527254 s,
deltaX: 26.700005 m,
approachRate: 7.569629 m/s,
rangeRepo size: 4
2025-06-05T06:01:36.860Z,1749103296.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:36.868Z,1749103296.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 98.438164 m,
bearing: 281.797918 deg,
approach rate: -0.624174 m/s,
LOS rate: -0.012213 deg/s,
cmd heading: 292.526948 deg,
new cmd heading: 292.508806 deg.
2025-06-05T06:01:36.869Z,1749103296.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.105242 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:37.318Z,1749103297.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:37.337Z,1749103297.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:37.340Z,1749103297.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 98.119171 m,
bearing: 281.793132 deg,
approach rate: -0.654459 m/s,
LOS rate: -0.009851 deg/s,
cmd heading: 292.508807 deg,
new cmd heading: 292.494402 deg.
2025-06-05T06:01:37.341Z,1749103297.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.104990 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:37.579Z,1749103297.579 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:37.579Z,1749103297.579 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:37.579Z,1749103297.579 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:37.785Z,1749103297.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:37.788Z,1749103297.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 97.811455 m,
bearing: 281.787603 deg,
approach rate: -0.685801 m/s,
LOS rate: -0.012361 deg/s,
cmd heading: 292.494409 deg,
new cmd heading: 292.477770 deg.
2025-06-05T06:01:37.789Z,1749103297.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.104700 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:37.831Z,1749103297.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232435
2025-06-05T06:01:38.083Z,1749103298.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484116
2025-06-05T06:01:38.172Z,1749103298.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:38.176Z,1749103298.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 97.555923 m,
bearing: 281.783323 deg,
approach rate: -0.661176 m/s,
LOS rate: -0.011103 deg/s,
cmd heading: 292.477771 deg,
new cmd heading: 292.464898 deg.
2025-06-05T06:01:38.178Z,1749103298.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.104475 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:38.335Z,1749103298.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736041
2025-06-05T06:01:38.592Z,1749103298.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993066
2025-06-05T06:01:38.734Z,1749103298.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:38.736Z,1749103298.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 97.179031 m,
bearing: 281.769724 deg,
approach rate: -0.670757 m/s,
LOS rate: -0.024295 deg/s,
cmd heading: 292.464903 deg,
new cmd heading: 292.423949 deg.
2025-06-05T06:01:38.737Z,1749103298.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.103761 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:38.845Z,1749103298.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245478
2025-06-05T06:01:39.095Z,1749103299.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496358
2025-06-05T06:01:39.117Z,1749103299.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:39.125Z,1749103299.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 96.915871 m,
bearing: 281.760204 deg,
approach rate: -0.686154 m/s,
LOS rate: -0.024891 deg/s,
cmd heading: 292.423949 deg,
new cmd heading: 292.395310 deg.
2025-06-05T06:01:39.131Z,1749103299.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.103261 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:39.351Z,1749103299.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751607
2025-06-05T06:01:39.576Z,1749103299.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:39.579Z,1749103299.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:39.581Z,1749103299.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 96.593430 m,
bearing: 281.737015 deg,
approach rate: -0.699393 m/s,
LOS rate: -0.050466 deg/s,
cmd heading: 292.395317 deg,
new cmd heading: 292.325518 deg.
2025-06-05T06:01:39.582Z,1749103299.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.102043 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:39.599Z,1749103299.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000447
2025-06-05T06:01:39.852Z,1749103299.852 [DAT](INFO): DAT read: Rx Time:06:01:38.4427
2025-06-05T06:01:39.852Z,1749103299.852 [DAT](INFO): Rx dataTimestamp_ set to:1749103299.851754
2025-06-05T06:01:39.853Z,1749103299.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253578
2025-06-05T06:01:39.957Z,1749103299.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:39.962Z,1749103299.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 96.333679 m,
bearing: 281.718398 deg,
approach rate: -0.685916 m/s,
LOS rate: -0.049293 deg/s,
cmd heading: 292.325512 deg,
new cmd heading: 292.269511 deg.
2025-06-05T06:01:39.963Z,1749103299.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101065 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:40.103Z,1749103300.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503997
2025-06-05T06:01:40.346Z,1749103300.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:40.349Z,1749103300.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 96.081223 m,
bearing: 281.700449 deg,
approach rate: -0.656367 m/s,
LOS rate: -0.046790 deg/s,
cmd heading: 292.269505 deg,
new cmd heading: 292.215514 deg.
2025-06-05T06:01:40.362Z,1749103300.362 [DAT](INFO): DAT read: 06:01:38.4427 LVL= 26128, 29425, 23122, 32755, AGC= 68, IDX= 403,-0.10, 1.713, 0.339, 2.016, 1.370, PHS= 0.431,-0.984, 0.643, RAW= 156.9, -1.2, CAL= 159.7, -9.8, ROT= 350.3, 9.8
2025-06-05T06:01:40.363Z,1749103300.363 [DAT](INFO): got valid direction response:
06:01:38.4427 LVL= 26128, 29425, 23122, 32755, AGC= 68, IDX= 403,-0.10, 1.713, 0.339, 2.016, 1.370, PHS= 0.431,-0.984, 0.643, RAW= 156.9, -1.2, CAL= 159.7, -9.8, ROT= 350.3, 9.8
2025-06-05T06:01:40.364Z,1749103300.364 [DAT](INFO): DAT read: $Error in header
2025-06-05T06:01:40.364Z,1749103300.364 [DAT](INFO): Received a bad header
2025-06-05T06:01:40.367Z,1749103300.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100123 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:40.379Z,1749103300.379 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T06:01:40.380Z,1749103300.380 [DAT](INFO): direction in FSK: [0.971320,-0.166031,-0.170209]
2025-06-05T06:01:40.388Z,1749103300.388 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:40.388Z,1749103300.388 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:40.388Z,1749103300.388 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:40.607Z,1749103300.607 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:40.607Z,1749103300.607 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:40.607Z,1749103300.607 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:40.746Z,1749103300.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:40.749Z,1749103300.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 95.789963 m,
bearing: 281.670083 deg,
approach rate: -0.720944 m/s,
LOS rate: -0.075391 deg/s,
cmd heading: 292.215519 deg,
new cmd heading: 292.124146 deg.
2025-06-05T06:01:40.750Z,1749103300.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.098528 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:40.860Z,1749103300.860 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:40.860Z,1749103300.860 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:40.860Z,1749103300.860 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:41.111Z,1749103301.111 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:41.111Z,1749103301.111 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:41.111Z,1749103301.111 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:41.130Z,1749103301.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:41.133Z,1749103301.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 95.522919 m,
bearing: 281.642316 deg,
approach rate: -0.694736 m/s,
LOS rate: -0.072440 deg/s,
cmd heading: 292.124158 deg,
new cmd heading: 292.040624 deg.
2025-06-05T06:01:41.135Z,1749103301.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.097070 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:41.364Z,1749103301.364 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:41.364Z,1749103301.364 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:41.364Z,1749103301.364 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:41.610Z,1749103301.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:41.612Z,1749103301.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:41.624Z,1749103301.624 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:41.624Z,1749103301.624 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:41.624Z,1749103301.624 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:41.639Z,1749103301.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 95.192688 m,
bearing: 281.597896 deg,
approach rate: -0.685053 m/s,
LOS rate: -0.092468 deg/s,
cmd heading: 292.040611 deg,
new cmd heading: 291.906888 deg.
2025-06-05T06:01:41.640Z,1749103301.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.094736 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:41.876Z,1749103301.876 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:41.876Z,1749103301.876 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:41.876Z,1749103301.876 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:41.971Z,1749103301.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:41.975Z,1749103301.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 94.951569 m,
bearing: 281.565491 deg,
approach rate: -0.670926 m/s,
LOS rate: -0.090398 deg/s,
cmd heading: 291.906876 deg,
new cmd heading: 291.809414 deg.
2025-06-05T06:01:41.977Z,1749103301.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093035 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:42.127Z,1749103302.127 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:42.127Z,1749103302.127 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:42.128Z,1749103302.128 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:42.370Z,1749103302.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:42.373Z,1749103302.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 94.674881 m,
bearing: 281.528343 deg,
approach rate: -0.694785 m/s,
LOS rate: -0.093554 deg/s,
cmd heading: 291.809423 deg,
new cmd heading: 291.697654 deg.
2025-06-05T06:01:42.374Z,1749103302.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.091084 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:42.379Z,1749103302.379 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:42.379Z,1749103302.379 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:42.379Z,1749103302.379 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:42.631Z,1749103302.631 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:42.631Z,1749103302.631 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:42.631Z,1749103302.631 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:42.820Z,1749103302.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:42.823Z,1749103302.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 94.368980 m,
bearing: 281.479349 deg,
approach rate: -0.678726 m/s,
LOS rate: -0.109059 deg/s,
cmd heading: 291.697654 deg,
new cmd heading: 291.550196 deg.
2025-06-05T06:01:42.824Z,1749103302.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088511 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:42.884Z,1749103302.884 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:42.884Z,1749103302.884 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:42.884Z,1749103302.884 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:43.135Z,1749103303.135 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:43.135Z,1749103303.135 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:43.135Z,1749103303.135 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:43.180Z,1749103303.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:43.203Z,1749103303.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 94.126144 m,
bearing: 281.440468 deg,
approach rate: -0.674955 m/s,
LOS rate: -0.108347 deg/s,
cmd heading: 291.550204 deg,
new cmd heading: 291.433260 deg.
2025-06-05T06:01:43.204Z,1749103303.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.086470 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:43.387Z,1749103303.387 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:43.387Z,1749103303.387 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:43.387Z,1749103303.387 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:43.639Z,1749103303.639 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:43.639Z,1749103303.639 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:43.639Z,1749103303.639 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:43.655Z,1749103303.655 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:43.676Z,1749103303.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:43.735Z,1749103303.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 93.806740 m,
bearing: 281.388624 deg,
approach rate: -0.668053 m/s,
LOS rate: -0.108803 deg/s,
cmd heading: 291.433271 deg,
new cmd heading: 291.277211 deg.
2025-06-05T06:01:43.736Z,1749103303.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.083746 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:43.892Z,1749103303.892 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:43.892Z,1749103303.892 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:43.892Z,1749103303.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:44.039Z,1749103304.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:44.059Z,1749103304.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 93.544296 m,
bearing: 281.346020 deg,
approach rate: -0.690750 m/s,
LOS rate: -0.112449 deg/s,
cmd heading: 291.277215 deg,
new cmd heading: 291.149044 deg.
2025-06-05T06:01:44.060Z,1749103304.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.081510 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:44.144Z,1749103304.144 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:44.144Z,1749103304.144 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:44.144Z,1749103304.144 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:44.395Z,1749103304.395 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:44.395Z,1749103304.395 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:44.396Z,1749103304.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:44.435Z,1749103304.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:44.439Z,1749103304.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 93.276146 m,
bearing: 281.302531 deg,
approach rate: -0.675231 m/s,
LOS rate: -0.109826 deg/s,
cmd heading: 291.149053 deg,
new cmd heading: 291.018210 deg.
2025-06-05T06:01:44.440Z,1749103304.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.079226 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:44.649Z,1749103304.649 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:44.649Z,1749103304.649 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:44.649Z,1749103304.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:44.880Z,1749103304.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:44.887Z,1749103304.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 92.989204 m,
bearing: 281.253768 deg,
approach rate: -0.644628 m/s,
LOS rate: -0.109885 deg/s,
cmd heading: 291.018214 deg,
new cmd heading: 290.871476 deg.
2025-06-05T06:01:44.888Z,1749103304.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.076665 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:44.899Z,1749103304.899 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:44.899Z,1749103304.899 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:44.899Z,1749103304.899 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:45.151Z,1749103305.151 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:45.151Z,1749103305.151 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:45.151Z,1749103305.151 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:45.262Z,1749103305.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:45.265Z,1749103305.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 92.723679 m,
bearing: 281.208364 deg,
approach rate: -0.696596 m/s,
LOS rate: -0.119457 deg/s,
cmd heading: 290.871474 deg,
new cmd heading: 290.734872 deg.
2025-06-05T06:01:45.266Z,1749103305.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.074281 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:45.403Z,1749103305.403 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:45.403Z,1749103305.403 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:45.403Z,1749103305.403 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:45.655Z,1749103305.655 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:45.655Z,1749103305.655 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:45.655Z,1749103305.655 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:45.766Z,1749103305.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:45.772Z,1749103305.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:45.779Z,1749103305.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 92.384827 m,
bearing: 281.159840 deg,
approach rate: -0.664015 m/s,
LOS rate: -0.095438 deg/s,
cmd heading: 290.734870 deg,
new cmd heading: 290.588763 deg.
2025-06-05T06:01:45.780Z,1749103305.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.071731 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:45.910Z,1749103305.910 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:45.910Z,1749103305.910 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:45.911Z,1749103305.911 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:46.160Z,1749103306.160 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:46.160Z,1749103306.160 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:46.160Z,1749103306.160 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:46.231Z,1749103306.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:46.234Z,1749103306.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 92.087379 m,
bearing: 281.117215 deg,
approach rate: -0.650398 m/s,
LOS rate: -0.093503 deg/s,
cmd heading: 290.588759 deg,
new cmd heading: 290.460473 deg.
2025-06-05T06:01:46.235Z,1749103306.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.069491 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:46.411Z,1749103306.411 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:46.412Z,1749103306.412 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:46.412Z,1749103306.412 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:46.663Z,1749103306.663 [DAT](INFO): Reached modem response timeout
2025-06-05T06:01:46.663Z,1749103306.663 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:01:46.663Z,1749103306.663 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:46.742Z,1749103306.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:46.749Z,1749103306.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 91.739716 m,
bearing: 281.076699 deg,
approach rate: -0.678433 m/s,
LOS rate: -0.079364 deg/s,
cmd heading: 290.460461 deg,
new cmd heading: 290.338451 deg.
2025-06-05T06:01:46.750Z,1749103306.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.067362 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:46.915Z,1749103306.915 [DAT](INFO): Reached modem response timeout
2025-06-05T06:01:46.915Z,1749103306.915 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:01:46.915Z,1749103306.915 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:47.116Z,1749103307.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:47.123Z,1749103307.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 91.485916 m,
bearing: 281.047203 deg,
approach rate: -0.678365 m/s,
LOS rate: -0.079056 deg/s,
cmd heading: 290.338446 deg,
new cmd heading: 290.249714 deg.
2025-06-05T06:01:47.124Z,1749103307.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.065813 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:47.167Z,1749103307.167 [DAT](INFO): Reached modem response timeout
2025-06-05T06:01:47.167Z,1749103307.167 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:01:47.167Z,1749103307.167 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:47.419Z,1749103307.419 [DAT](INFO): Reached modem response timeout
2025-06-05T06:01:47.419Z,1749103307.419 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:01:47.419Z,1749103307.419 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:47.549Z,1749103307.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:47.553Z,1749103307.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 91.184097 m,
bearing: 281.012409 deg,
approach rate: -0.696385 m/s,
LOS rate: -0.080547 deg/s,
cmd heading: 290.249708 deg,
new cmd heading: 290.144979 deg.
2025-06-05T06:01:47.554Z,1749103307.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063985 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:47.672Z,1749103307.672 [DAT](INFO): DAT read: Response Not Received
2025-06-05T06:01:47.672Z,1749103307.672 [DAT](INFO): response not received
2025-06-05T06:01:47.672Z,1749103307.672 [DAT](INFO): DAT read: user:619>
2025-06-05T06:01:47.673Z,1749103307.673 [DAT](INFO): DAT read: Tx time:06:01:46.8208
2025-06-05T06:01:47.673Z,1749103307.673 [DAT](INFO): Ping request sent.
2025-06-05T06:01:47.673Z,1749103307.673 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:01:47.674Z,1749103307.674 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:47.674Z,1749103307.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000853
2025-06-05T06:01:47.923Z,1749103307.923 [DAT](INFO): DAT read: TxSync time:06:01:46.8201
2025-06-05T06:01:47.925Z,1749103307.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250554
2025-06-05T06:01:47.955Z,1749103307.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:47.957Z,1749103307.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:47.981Z,1749103307.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 90.908340 m,
bearing: 280.986679 deg,
approach rate: -0.675881 m/s,
LOS rate: -0.063255 deg/s,
cmd heading: 290.144988 deg,
new cmd heading: 290.067564 deg.
2025-06-05T06:01:47.982Z,1749103307.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062634 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:48.178Z,1749103308.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503834
2025-06-05T06:01:48.329Z,1749103308.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:48.332Z,1749103308.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 90.658958 m,
bearing: 280.963465 deg,
approach rate: -0.670418 m/s,
LOS rate: -0.062577 deg/s,
cmd heading: 290.067561 deg,
new cmd heading: 289.997729 deg.
2025-06-05T06:01:48.333Z,1749103308.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.061415 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:48.428Z,1749103308.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754017
2025-06-05T06:01:48.681Z,1749103308.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007458
2025-06-05T06:01:48.821Z,1749103308.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:48.825Z,1749103308.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 90.346039 m,
bearing: 280.945653 deg,
approach rate: -0.636144 m/s,
LOS rate: -0.036336 deg/s,
cmd heading: 289.997729 deg,
new cmd heading: 289.944108 deg.
2025-06-05T06:01:48.835Z,1749103308.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.060479 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:48.931Z,1749103308.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257644
2025-06-05T06:01:49.146Z,1749103309.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:49.149Z,1749103309.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 90.106140 m,
bearing: 280.932372 deg,
approach rate: -0.738636 m/s,
LOS rate: -0.041001 deg/s,
cmd heading: 289.944098 deg,
new cmd heading: 289.904149 deg.
2025-06-05T06:01:49.152Z,1749103309.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059782 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:49.183Z,1749103309.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509858
2025-06-05T06:01:49.435Z,1749103309.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761568
2025-06-05T06:01:49.549Z,1749103309.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:49.552Z,1749103309.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 89.834305 m,
bearing: 280.917685 deg,
approach rate: -0.675132 m/s,
LOS rate: -0.036588 deg/s,
cmd heading: 289.904155 deg,
new cmd heading: 289.859960 deg.
2025-06-05T06:01:49.553Z,1749103309.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059011 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:49.687Z,1749103309.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013778
2025-06-05T06:01:49.939Z,1749103309.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265928
2025-06-05T06:01:49.963Z,1749103309.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:49.965Z,1749103309.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:49.994Z,1749103309.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 89.558807 m,
bearing: 280.908272 deg,
approach rate: -0.661098 m/s,
LOS rate: -0.022657 deg/s,
cmd heading: 289.859950 deg,
new cmd heading: 289.831625 deg.
2025-06-05T06:01:49.999Z,1749103309.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058516 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:50.193Z,1749103310.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519494
2025-06-05T06:01:50.345Z,1749103310.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:50.365Z,1749103310.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 89.305336 m,
bearing: 280.899917 deg,
approach rate: -0.668067 m/s,
LOS rate: -0.022084 deg/s,
cmd heading: 289.831619 deg,
new cmd heading: 289.806482 deg.
2025-06-05T06:01:50.367Z,1749103310.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058077 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:50.444Z,1749103310.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770973
2025-06-05T06:01:50.695Z,1749103310.695 [DAT](INFO): DAT read: Rx Time:06:01:49.3850
2025-06-05T06:01:50.696Z,1749103310.696 [DAT](INFO): Rx dataTimestamp_ set to:1749103310.695260
2025-06-05T06:01:50.696Z,1749103310.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022585
2025-06-05T06:01:50.833Z,1749103310.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:50.847Z,1749103310.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 88.996239 m,
bearing: 280.892516 deg,
approach rate: -0.642613 m/s,
LOS rate: -0.015439 deg/s,
cmd heading: 289.806484 deg,
new cmd heading: 289.784206 deg.
2025-06-05T06:01:50.848Z,1749103310.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057689 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:50.948Z,1749103310.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274245
2025-06-05T06:01:51.205Z,1749103311.205 [DAT](INFO): DAT read: 06:01:49.3850 LVL= 27888, 30913, 23826, 32499, AGC= 66, IDX= 355, 0.22,-1.700,-3.062,-1.583,-2.221, PHS= 0.609,-0.794, 0.636, RAW= 150.9, -6.4, CAL= 156.1, -14.6, ROT= 353.9, 14.6
2025-06-05T06:01:51.206Z,1749103311.206 [DAT](INFO): got valid direction response:
06:01:49.3850 LVL= 27888, 30913, 23826, 32499, AGC= 66, IDX= 355, 0.22,-1.700,-3.062,-1.583,-2.221, PHS= 0.609,-0.794, 0.636, RAW= 150.9, -6.4, CAL= 156.1, -14.6, ROT= 353.9, 14.6
2025-06-05T06:01:51.207Z,1749103311.207 [DAT](INFO): DAT read: $Error in header
2025-06-05T06:01:51.208Z,1749103311.208 [DAT](INFO): Received a bad header
2025-06-05T06:01:51.222Z,1749103311.222 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T06:01:51.223Z,1749103311.223 [DAT](INFO): direction in FSK: [0.962230,-0.102833,-0.252069]
2025-06-05T06:01:51.228Z,1749103311.228 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:51.228Z,1749103311.228 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:51.228Z,1749103311.228 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:51.246Z,1749103311.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:51.257Z,1749103311.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 88.716476 m,
bearing: 280.886668 deg,
approach rate: -0.666064 m/s,
LOS rate: -0.013967 deg/s,
cmd heading: 289.784217 deg,
new cmd heading: 289.766618 deg.
2025-06-05T06:01:51.267Z,1749103311.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057382 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:51.451Z,1749103311.451 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:51.451Z,1749103311.451 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:51.451Z,1749103311.451 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:51.600Z,1749103311.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:51.603Z,1749103311.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 88.463928 m,
bearing: 280.881702 deg,
approach rate: -0.713471 m/s,
LOS rate: -0.014070 deg/s,
cmd heading: 289.766623 deg,
new cmd heading: 289.751682 deg.
2025-06-05T06:01:51.604Z,1749103311.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057121 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:51.709Z,1749103311.709 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:51.709Z,1749103311.709 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:51.710Z,1749103311.710 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:51.955Z,1749103311.955 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:51.955Z,1749103311.955 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:51.955Z,1749103311.955 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:52.051Z,1749103312.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:52.053Z,1749103312.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:52.061Z,1749103312.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 88.168327 m,
bearing: 280.881674 deg,
approach rate: -0.651715 m/s,
LOS rate: -0.000062 deg/s,
cmd heading: 289.751678 deg,
new cmd heading: 289.751593 deg.
2025-06-05T06:01:52.066Z,1749103312.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057119 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:52.207Z,1749103312.207 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:52.207Z,1749103312.207 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:52.207Z,1749103312.207 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:52.287Z,1749103312.287 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:01:52.460Z,1749103312.460 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:52.460Z,1749103312.460 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:52.460Z,1749103312.460 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:52.474Z,1749103312.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:52.501Z,1749103312.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 87.880669 m,
bearing: 280.882071 deg,
approach rate: -0.684051 m/s,
LOS rate: 0.000946 deg/s,
cmd heading: 289.751596 deg,
new cmd heading: 289.752790 deg.
2025-06-05T06:01:52.511Z,1749103312.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057140 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:52.712Z,1749103312.712 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:52.713Z,1749103312.713 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:52.713Z,1749103312.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:52.902Z,1749103312.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:52.905Z,1749103312.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 87.604774 m,
bearing: 280.879195 deg,
approach rate: -0.644917 m/s,
LOS rate: -0.006743 deg/s,
cmd heading: 289.752798 deg,
new cmd heading: 289.744144 deg.
2025-06-05T06:01:52.911Z,1749103312.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056989 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:52.963Z,1749103312.963 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:52.963Z,1749103312.963 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:52.963Z,1749103312.963 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:53.215Z,1749103313.215 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:53.215Z,1749103313.215 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:53.215Z,1749103313.215 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:53.234Z,1749103313.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:53.257Z,1749103313.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 87.380051 m,
bearing: 280.877083 deg,
approach rate: -0.676861 m/s,
LOS rate: -0.006376 deg/s,
cmd heading: 289.744138 deg,
new cmd heading: 289.737787 deg.
2025-06-05T06:01:53.262Z,1749103313.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056879 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:53.291Z,1749103313.291 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:01:53.467Z,1749103313.467 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:53.467Z,1749103313.467 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:53.467Z,1749103313.467 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:53.638Z,1749103313.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:53.640Z,1749103313.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 87.112267 m,
bearing: 280.874841 deg,
approach rate: -0.662796 m/s,
LOS rate: -0.005566 deg/s,
cmd heading: 289.737799 deg,
new cmd heading: 289.731053 deg.
2025-06-05T06:01:53.643Z,1749103313.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056761 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:53.724Z,1749103313.724 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:53.724Z,1749103313.724 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:53.725Z,1749103313.725 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:53.976Z,1749103313.976 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:53.977Z,1749103313.977 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:53.977Z,1749103313.977 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:54.057Z,1749103314.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:54.063Z,1749103314.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:54.070Z,1749103314.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 86.842621 m,
bearing: 280.872840 deg,
approach rate: -0.633439 m/s,
LOS rate: -0.004716 deg/s,
cmd heading: 289.731051 deg,
new cmd heading: 289.725028 deg.
2025-06-05T06:01:54.071Z,1749103314.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056656 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:54.228Z,1749103314.228 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:54.228Z,1749103314.228 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:54.228Z,1749103314.228 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:54.421Z,1749103314.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:54.426Z,1749103314.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 86.595802 m,
bearing: 280.871218 deg,
approach rate: -0.690510 m/s,
LOS rate: -0.004552 deg/s,
cmd heading: 289.725041 deg,
new cmd heading: 289.720159 deg.
2025-06-05T06:01:54.427Z,1749103314.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056571 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:54.479Z,1749103314.479 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:54.479Z,1749103314.479 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:54.479Z,1749103314.479 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:54.734Z,1749103314.734 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:54.734Z,1749103314.734 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:54.735Z,1749103314.735 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:54.877Z,1749103314.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:54.891Z,1749103314.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 86.301506 m,
bearing: 280.863004 deg,
approach rate: -0.644546 m/s,
LOS rate: -0.018051 deg/s,
cmd heading: 289.720150 deg,
new cmd heading: 289.695424 deg.
2025-06-05T06:01:54.893Z,1749103314.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056139 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:54.984Z,1749103314.984 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:54.984Z,1749103314.984 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:54.984Z,1749103314.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:55.235Z,1749103315.235 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:55.235Z,1749103315.235 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:55.235Z,1749103315.235 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:55.244Z,1749103315.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:55.247Z,1749103315.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 86.062935 m,
bearing: 280.856371 deg,
approach rate: -0.651037 m/s,
LOS rate: -0.018150 deg/s,
cmd heading: 289.695425 deg,
new cmd heading: 289.675471 deg.
2025-06-05T06:01:55.248Z,1749103315.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.055791 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:55.488Z,1749103315.488 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:55.488Z,1749103315.488 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:55.488Z,1749103315.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:55.655Z,1749103315.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:55.659Z,1749103315.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 85.807968 m,
bearing: 280.849287 deg,
approach rate: -0.620043 m/s,
LOS rate: -0.017277 deg/s,
cmd heading: 289.675481 deg,
new cmd heading: 289.654168 deg.
2025-06-05T06:01:55.660Z,1749103315.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.055419 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:55.741Z,1749103315.741 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:55.742Z,1749103315.742 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:55.743Z,1749103315.743 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:55.992Z,1749103315.992 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:55.992Z,1749103315.992 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:55.993Z,1749103315.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:56.224Z,1749103316.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:56.232Z,1749103316.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:56.244Z,1749103316.244 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:56.244Z,1749103316.244 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:56.244Z,1749103316.244 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:56.245Z,1749103316.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 85.430588 m,
bearing: 280.829979 deg,
approach rate: -0.654377 m/s,
LOS rate: -0.033629 deg/s,
cmd heading: 289.654171 deg,
new cmd heading: 289.595989 deg.
2025-06-05T06:01:56.258Z,1749103316.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.054403 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:56.498Z,1749103316.498 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:56.498Z,1749103316.498 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:56.498Z,1749103316.498 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:56.596Z,1749103316.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:56.599Z,1749103316.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 85.180183 m,
bearing: 280.817162 deg,
approach rate: -0.687448 m/s,
LOS rate: -0.035289 deg/s,
cmd heading: 289.595977 deg,
new cmd heading: 289.557415 deg.
2025-06-05T06:01:56.600Z,1749103316.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.053730 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:56.749Z,1749103316.749 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:56.750Z,1749103316.750 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:56.751Z,1749103316.751 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:56.999Z,1749103316.999 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:56.999Z,1749103316.999 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:56.999Z,1749103316.999 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:57.067Z,1749103317.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:57.070Z,1749103317.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 84.885658 m,
bearing: 280.793367 deg,
approach rate: -0.625156 m/s,
LOS rate: -0.050682 deg/s,
cmd heading: 289.557428 deg,
new cmd heading: 289.485795 deg.
2025-06-05T06:01:57.077Z,1749103317.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.052480 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:57.251Z,1749103317.251 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:57.251Z,1749103317.251 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:57.251Z,1749103317.251 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:57.400Z,1749103317.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:57.403Z,1749103317.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 84.656425 m,
bearing: 280.774845 deg,
approach rate: -0.688991 m/s,
LOS rate: -0.055824 deg/s,
cmd heading: 289.485793 deg,
new cmd heading: 289.430074 deg.
2025-06-05T06:01:57.404Z,1749103317.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051508 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:57.503Z,1749103317.503 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:01:57.504Z,1749103317.504 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:01:57.504Z,1749103317.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:01:57.757Z,1749103317.757 [DAT](INFO): Reached modem response timeout
2025-06-05T06:01:57.758Z,1749103317.758 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:01:57.759Z,1749103317.759 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:57.928Z,1749103317.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:57.931Z,1749103317.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 84.301758 m,
bearing: 280.735456 deg,
approach rate: -0.671359 m/s,
LOS rate: -0.074873 deg/s,
cmd heading: 289.430086 deg,
new cmd heading: 289.311424 deg.
2025-06-05T06:01:57.932Z,1749103317.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.049437 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:58.007Z,1749103318.007 [DAT](INFO): Reached modem response timeout
2025-06-05T06:01:58.007Z,1749103318.007 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:01:58.007Z,1749103318.007 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:58.260Z,1749103318.260 [DAT](INFO): Reached modem response timeout
2025-06-05T06:01:58.260Z,1749103318.260 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:01:58.261Z,1749103318.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:01:58.405Z,1749103318.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:01:58.412Z,1749103318.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:58.419Z,1749103318.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 83.994682 m,
bearing: 280.701152 deg,
approach rate: -0.635115 m/s,
LOS rate: -0.071211 deg/s,
cmd heading: 289.311432 deg,
new cmd heading: 289.208142 deg.
2025-06-05T06:01:58.420Z,1749103318.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.047634 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:58.513Z,1749103318.513 [DAT](INFO): DAT read: Response Not Received
2025-06-05T06:01:58.513Z,1749103318.513 [DAT](INFO): response not received
2025-06-05T06:01:58.514Z,1749103318.514 [DAT](INFO): DAT read: user:621>
2025-06-05T06:01:58.516Z,1749103318.516 [DAT](INFO): DAT read: Tx time:06:01:57.7709
2025-06-05T06:01:58.517Z,1749103318.517 [DAT](INFO): Ping request sent.
2025-06-05T06:01:58.517Z,1749103318.517 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:01:58.517Z,1749103318.517 [DAT](INFO): publishing transmit ping time
2025-06-05T06:01:58.518Z,1749103318.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001326
2025-06-05T06:01:58.766Z,1749103318.766 [DAT](INFO): DAT read: TxSync time:06:01:57.7702
2025-06-05T06:01:58.769Z,1749103318.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251294
2025-06-05T06:01:58.788Z,1749103318.788 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T06:01:58.904Z,1749103318.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:58.907Z,1749103318.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 83.660553 m,
bearing: 280.652828 deg,
approach rate: -0.678530 m/s,
LOS rate: -0.098525 deg/s,
cmd heading: 289.208132 deg,
new cmd heading: 289.062582 deg.
2025-06-05T06:01:58.908Z,1749103318.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.045094 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:59.016Z,1749103319.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498727
2025-06-05T06:01:59.071Z,1749103319.071 [CTD_Seabird](ERROR): Failed to parse device response: 7,3.66435,8015.82
2025-06-05T06:01:59.268Z,1749103319.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750764
2025-06-05T06:01:59.342Z,1749103319.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:59.349Z,1749103319.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 83.389709 m,
bearing: 280.613501 deg,
approach rate: -0.619815 m/s,
LOS rate: -0.090291 deg/s,
cmd heading: 289.062594 deg,
new cmd heading: 288.944229 deg.
2025-06-05T06:01:59.350Z,1749103319.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.043028 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:59.520Z,1749103319.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003539
2025-06-05T06:01:59.714Z,1749103319.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:01:59.717Z,1749103319.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 83.127869 m,
bearing: 280.574859 deg,
approach rate: -0.701758 m/s,
LOS rate: -0.103891 deg/s,
cmd heading: 288.944241 deg,
new cmd heading: 288.827950 deg.
2025-06-05T06:01:59.718Z,1749103319.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.040998 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:01:59.775Z,1749103319.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256681
2025-06-05T06:02:00.023Z,1749103320.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506244
2025-06-05T06:02:00.163Z,1749103320.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:02:00.166Z,1749103320.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 82.831062 m,
bearing: 280.529721 deg,
approach rate: -0.660906 m/s,
LOS rate: -0.100869 deg/s,
cmd heading: 288.827936 deg,
new cmd heading: 288.692039 deg.
2025-06-05T06:02:00.167Z,1749103320.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038627 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:02:00.276Z,1749103320.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759242
2025-06-05T06:02:00.528Z,1749103320.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011249
2025-06-05T06:02:00.603Z,1749103320.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:00.605Z,1749103320.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:02:00.620Z,1749103320.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 82.563080 m,
bearing: 280.488880 deg,
approach rate: -0.606806 m/s,
LOS rate: -0.092780 deg/s,
cmd heading: 288.692043 deg,
new cmd heading: 288.569120 deg.
2025-06-05T06:02:00.621Z,1749103320.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.036481 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:02:00.782Z,1749103320.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264821
2025-06-05T06:02:00.974Z,1749103320.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:02:00.976Z,1749103320.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 82.291496 m,
bearing: 280.449850 deg,
approach rate: -0.736428 m/s,
LOS rate: -0.106182 deg/s,
cmd heading: 288.569127 deg,
new cmd heading: 288.451652 deg.
2025-06-05T06:02:00.977Z,1749103320.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.034431 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:02:01.031Z,1749103321.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514333
2025-06-05T06:02:01.283Z,1749103321.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766179
2025-06-05T06:02:01.348Z,1749103321.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:02:01.352Z,1749103321.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 82.042587 m,
bearing: 280.414187 deg,
approach rate: -0.663927 m/s,
LOS rate: -0.095414 deg/s,
cmd heading: 288.451647 deg,
new cmd heading: 288.344334 deg.
2025-06-05T06:02:01.353Z,1749103321.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.032558 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:02:01.536Z,1749103321.536 [DAT](INFO): DAT read: Rx Time:06:02:00.2843
2025-06-05T06:02:01.537Z,1749103321.537 [DAT](INFO): Rx dataTimestamp_ set to:1749103321.536377
2025-06-05T06:02:01.537Z,1749103321.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020377
2025-06-05T06:02:01.767Z,1749103321.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:02:01.770Z,1749103321.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 81.775749 m,
bearing: 280.375986 deg,
approach rate: -0.637320 m/s,
LOS rate: -0.091538 deg/s,
cmd heading: 288.344332 deg,
new cmd heading: 288.229354 deg.
2025-06-05T06:02:01.771Z,1749103321.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.030551 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:02:01.787Z,1749103321.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270559
2025-06-05T06:02:02.043Z,1749103322.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524790
2025-06-05T06:02:02.188Z,1749103322.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.13 m.
2025-06-05T06:02:02.192Z,1749103322.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.125244 m,
nav range: 81.484131 m,
bearing: 280.338826 deg,
approach rate: -0.693113 m/s,
LOS rate: -0.088638 deg/s,
cmd heading: 288.229366 deg,
new cmd heading: 288.117486 deg.
2025-06-05T06:02:02.193Z,1749103322.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.028599 target range: 101.125244 and range: 101.90 m.
2025-06-05T06:02:02.196Z,1749103322.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 57.657555 m.
2025-06-05T06:02:02.299Z,1749103322.299 [DAT](INFO): DAT read: 06:02:00.2843 LVL= 23584, 24785, 19186, 28787, AGC= 64, IDX= 427,-0.03,-1.373,-2.747,-1.310,-2.037, PHS= 0.752,-0.663, 0.724, RAW= 149.0, -11.6, CAL= 156.0, -19.6, ROT= 354.0, 19.6
2025-06-05T06:02:02.300Z,1749103322.300 [DAT](INFO): got valid direction response:
06:02:00.2843 LVL= 23584, 24785, 19186, 28787, AGC= 64, IDX= 427,-0.03,-1.373,-2.747,-1.310,-2.037, PHS= 0.752,-0.663, 0.724, RAW= 149.0, -11.6, CAL= 156.0, -19.6, ROT= 354.0, 19.6
2025-06-05T06:02:02.301Z,1749103322.301 [DAT](INFO): DAT read: Bearing 354.0, 19.6 (Local)
2025-06-05T06:02:02.301Z,1749103322.301 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.0, 19.6 (Local)
2025-06-05T06:02:02.303Z,1749103322.303 [DAT](INFO): DAT read: Range 10 to 50 : 81.9 m (Round-trip 109.2 ms) speed 0.5 m/s
2025-06-05T06:02:02.304Z,1749103322.304 [DAT](INFO): DAT read: user:622>
2025-06-05T06:02:02.305Z,1749103322.305 [DAT](INFO): DAT read: Tx time:06:02:01.3709
2025-06-05T06:02:02.305Z,1749103322.305 [DAT](INFO): Ping request sent.
2025-06-05T06:02:02.305Z,1749103322.305 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:02:02.306Z,1749103322.306 [DAT](INFO): DAT read: TxSync time:06:02:01.3702
2025-06-05T06:02:02.306Z,1749103322.306 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:02:02.307Z,1749103322.307 [DAT](INFO): direction in FSK: [0.936897,-0.098472,-0.335452]
2025-06-05T06:02:02.308Z,1749103322.308 [DAT](INFO): publishing transmit ping time
2025-06-05T06:02:02.309Z,1749103322.309 [DAT](INFO): publishing direction and range info
2025-06-05T06:02:02.313Z,1749103322.313 [DAT](INFO): publishing transmit ping time
2025-06-05T06:02:02.313Z,1749103322.313 [DAT](INFO): publishing direction and range info
2025-06-05T06:02:02.632Z,1749103322.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 81.900002 m,
deltaT: 29.251505 s,
deltaX: -20.000000 m,
approachRate: -0.683725 m/s,
rangeRepo size: 4
2025-06-05T06:02:02.635Z,1749103322.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 81.263763 m,
bearing: 282.797551 deg,
lat: 36.906109 deg,
lon: -122.116053 deg,
deltaT: 29.251505 s,
deltaX: -19.861481 m,
approachRate: -0.678990 m/s,
posRepo size: 4
2025-06-05T06:02:02.635Z,1749103322.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m.
2025-06-05T06:02:02.638Z,1749103322.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.263763 m,
nav range: 80.596840 m,
bearing: 281.834014 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.088638 deg/s,
cmd heading: 288.117487 deg,
new cmd heading: 287.999529 deg.
2025-06-05T06:02:02.639Z,1749103322.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.026540 target range: 81.263763 and range: 81.90 m.
2025-06-05T06:02:03.074Z,1749103323.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:03.098Z,1749103323.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m.
2025-06-05T06:02:03.101Z,1749103323.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.263763 m,
nav range: 80.302162 m,
bearing: 281.811198 deg,
approach rate: -0.660154 m/s,
LOS rate: -0.051301 deg/s,
cmd heading: 287.999516 deg,
new cmd heading: 287.930817 deg.
2025-06-05T06:02:03.102Z,1749103323.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025341 target range: 81.263763 and range: 81.90 m.
2025-06-05T06:02:03.300Z,1749103323.300 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:03.300Z,1749103323.300 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:03.300Z,1749103323.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:03.538Z,1749103323.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m.
2025-06-05T06:02:03.543Z,1749103323.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.263763 m,
nav range: 80.000069 m,
bearing: 281.788706 deg,
approach rate: -0.656183 m/s,
LOS rate: -0.049039 deg/s,
cmd heading: 287.930805 deg,
new cmd heading: 287.863075 deg.
2025-06-05T06:02:03.544Z,1749103323.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.024158 target range: 81.263763 and range: 81.90 m.
2025-06-05T06:02:03.551Z,1749103323.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246079
2025-06-05T06:02:03.803Z,1749103323.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498106
2025-06-05T06:02:03.982Z,1749103323.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m.
2025-06-05T06:02:03.985Z,1749103323.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.263763 m,
nav range: 79.721741 m,
bearing: 281.780650 deg,
approach rate: -0.629458 m/s,
LOS rate: -0.018283 deg/s,
cmd heading: 287.863076 deg,
new cmd heading: 287.838824 deg.
2025-06-05T06:02:04.005Z,1749103324.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.023735 target range: 81.263763 and range: 81.90 m.
2025-06-05T06:02:04.057Z,1749103324.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751330
2025-06-05T06:02:04.307Z,1749103324.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001913
2025-06-05T06:02:04.378Z,1749103324.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m.
2025-06-05T06:02:04.381Z,1749103324.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.263763 m,
nav range: 79.480240 m,
bearing: 281.773615 deg,
approach rate: -0.607488 m/s,
LOS rate: -0.017752 deg/s,
cmd heading: 287.838816 deg,
new cmd heading: 287.817645 deg.
2025-06-05T06:02:04.382Z,1749103324.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.023365 target range: 81.263763 and range: 81.90 m.
2025-06-05T06:02:04.560Z,1749103324.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255327
2025-06-05T06:02:04.743Z,1749103324.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m.
2025-06-05T06:02:04.745Z,1749103324.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.263763 m,
nav range: 79.236015 m,
bearing: 281.766367 deg,
approach rate: -0.672319 m/s,
LOS rate: -0.020013 deg/s,
cmd heading: 287.817642 deg,
new cmd heading: 287.795832 deg.
2025-06-05T06:02:04.747Z,1749103324.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022985 target range: 81.263763 and range: 81.90 m.
2025-06-05T06:02:04.811Z,1749103324.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506193
2025-06-05T06:02:05.067Z,1749103325.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761311
2025-06-05T06:02:05.233Z,1749103325.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:05.235Z,1749103325.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m.
2025-06-05T06:02:05.237Z,1749103325.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.263763 m,
nav range: 78.929443 m,
bearing: 281.766254 deg,
approach rate: -0.621045 m/s,
LOS rate: -0.000230 deg/s,
cmd heading: 287.795840 deg,
new cmd heading: 287.795499 deg.
2025-06-05T06:02:05.239Z,1749103325.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022979 target range: 81.263763 and range: 81.90 m.
2025-06-05T06:02:05.316Z,1749103325.316 [DAT](INFO): DAT read: Rx Time:06:02:03.8813
2025-06-05T06:02:05.316Z,1749103325.316 [DAT](INFO): Rx dataTimestamp_ set to:1749103325.315695
2025-06-05T06:02:05.317Z,1749103325.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011412
2025-06-05T06:02:05.567Z,1749103325.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262023
2025-06-05T06:02:05.615Z,1749103325.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m.
2025-06-05T06:02:05.626Z,1749103325.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 81.263763 m,
nav range: 78.697296 m,
bearing: 281.765790 deg,
approach rate: -0.612886 m/s,
LOS rate: -0.001229 deg/s,
cmd heading: 287.795512 deg,
new cmd heading: 287.794115 deg.
2025-06-05T06:02:05.651Z,1749103325.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022955 target range: 81.263763 and range: 81.90 m.
2025-06-05T06:02:05.826Z,1749103325.826 [DAT](INFO): DAT read: 06:02:03.8813 LVL= 18528, 21809, 14946, 24931, AGC= 69, IDX= 412,-0.04, 1.709, 0.237, 1.711, 0.985, PHS= 0.812,-0.701, 0.722, RAW= 147.0, -11.3, CAL= 154.1, -19.7, ROT= 355.9, 19.7
2025-06-05T06:02:05.827Z,1749103325.827 [DAT](INFO): got valid direction response:
06:02:03.8813 LVL= 18528, 21809, 14946, 24931, AGC= 69, IDX= 412,-0.04, 1.709, 0.237, 1.711, 0.985, PHS= 0.812,-0.701, 0.722, RAW= 147.0, -11.3, CAL= 154.1, -19.7, ROT= 355.9, 19.7
2025-06-05T06:02:05.828Z,1749103325.828 [DAT](INFO): DAT read: Bearing 355.9, 19.7 (Local)
2025-06-05T06:02:05.829Z,1749103325.829 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.9, 19.7 (Local)
2025-06-05T06:02:05.831Z,1749103325.831 [DAT](INFO): DAT read: Range 10 to 50 : 79.6 m (Round-trip 106.2 ms) speed 0.7 m/s
2025-06-05T06:02:05.831Z,1749103325.831 [DAT](INFO): DAT read: user:623>
2025-06-05T06:02:05.832Z,1749103325.832 [DAT](INFO): DAT read: Tx time:06:02:04.9709
2025-06-05T06:02:05.832Z,1749103325.832 [DAT](INFO): Ping request sent.
2025-06-05T06:02:05.832Z,1749103325.832 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:02:05.833Z,1749103325.833 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:02:05.834Z,1749103325.834 [DAT](INFO): direction in FSK: [0.939061,-0.067313,-0.337095]
2025-06-05T06:02:05.835Z,1749103325.835 [DAT](INFO): publishing transmit ping time
2025-06-05T06:02:05.836Z,1749103325.836 [DAT](INFO): publishing direction and range info
2025-06-05T06:02:05.930Z,1749103325.930 [DAT](INFO): publishing transmit ping time
2025-06-05T06:02:05.934Z,1749103325.934 [DAT](INFO): publishing direction and range info
2025-06-05T06:02:06.073Z,1749103326.073 [DAT](INFO): DAT read: TxSync time:06:02:04.9702
2025-06-05T06:02:06.262Z,1749103326.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 79.599998 m,
deltaT: 3.527752 s,
deltaX: -2.300003 m,
approachRate: -0.651974 m/s,
rangeRepo size: 4
2025-06-05T06:02:06.280Z,1749103326.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 78.979507 m,
bearing: 284.438482 deg,
lat: 36.906109 deg,
lon: -122.116045 deg,
deltaT: 3.527752 s,
deltaX: -2.284256 m,
approachRate: -0.647510 m/s,
posRepo size: 4
2025-06-05T06:02:06.281Z,1749103326.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:06.284Z,1749103326.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 77.595497 m,
bearing: 281.887034 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001229 deg/s,
cmd heading: 287.794119 deg,
new cmd heading: 287.791731 deg.
2025-06-05T06:02:06.285Z,1749103326.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022913 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:06.785Z,1749103326.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:06.798Z,1749103326.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 77.277229 m,
bearing: 281.896705 deg,
approach rate: -0.606996 m/s,
LOS rate: 0.018521 deg/s,
cmd heading: 287.791742 deg,
new cmd heading: 287.820876 deg.
2025-06-05T06:02:06.799Z,1749103326.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.023422 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:07.357Z,1749103327.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:07.363Z,1749103327.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:07.370Z,1749103327.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 76.934082 m,
bearing: 281.910014 deg,
approach rate: -0.593938 m/s,
LOS rate: 0.023139 deg/s,
cmd heading: 287.820866 deg,
new cmd heading: 287.860971 deg.
2025-06-05T06:02:07.371Z,1749103327.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.024122 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:07.588Z,1749103327.588 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:07.588Z,1749103327.588 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:07.588Z,1749103327.588 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:07.801Z,1749103327.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:07.816Z,1749103327.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 76.636360 m,
bearing: 281.921135 deg,
approach rate: -0.679761 m/s,
LOS rate: 0.025491 deg/s,
cmd heading: 287.860973 deg,
new cmd heading: 287.894466 deg.
2025-06-05T06:02:07.817Z,1749103327.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.024706 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:07.839Z,1749103327.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006937
2025-06-05T06:02:08.091Z,1749103328.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258681
2025-06-05T06:02:08.235Z,1749103328.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:08.243Z,1749103328.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 76.362091 m,
bearing: 281.929284 deg,
approach rate: -0.631625 m/s,
LOS rate: 0.018834 deg/s,
cmd heading: 287.894468 deg,
new cmd heading: 287.919003 deg.
2025-06-05T06:02:08.244Z,1749103328.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025135 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:08.349Z,1749103328.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516336
2025-06-05T06:02:08.599Z,1749103328.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766771
2025-06-05T06:02:08.602Z,1749103328.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:08.605Z,1749103328.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 76.114372 m,
bearing: 281.936194 deg,
approach rate: -0.676247 m/s,
LOS rate: 0.018924 deg/s,
cmd heading: 287.919002 deg,
new cmd heading: 287.939798 deg.
2025-06-05T06:02:08.606Z,1749103328.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025497 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:08.854Z,1749103328.854 [DAT](INFO): DAT read: Rx Time:06:02:07.4784
2025-06-05T06:02:08.855Z,1749103328.855 [DAT](INFO): Rx dataTimestamp_ set to:1749103328.854628
2025-06-05T06:02:08.855Z,1749103328.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023075
2025-06-05T06:02:09.042Z,1749103329.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:09.045Z,1749103329.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 75.810356 m,
bearing: 281.937392 deg,
approach rate: -0.690395 m/s,
LOS rate: 0.002732 deg/s,
cmd heading: 287.939793 deg,
new cmd heading: 287.943402 deg.
2025-06-05T06:02:09.046Z,1749103329.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025560 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:09.104Z,1749103329.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272026
2025-06-05T06:02:09.366Z,1749103329.366 [DAT](INFO): DAT read: 06:02:07.4784 LVL= 24416, 31953, 18354, 21619, AGC= 69, IDX= 413,-0.09,-0.182,-1.613,-0.161,-0.826, PHS= 0.732,-0.740, 0.662, RAW= 147.6, -9.1, CAL= 153.9, -17.6, ROT= 356.1, 17.6
2025-06-05T06:02:09.368Z,1749103329.368 [DAT](INFO): got valid direction response:
06:02:07.4784 LVL= 24416, 31953, 18354, 21619, AGC= 69, IDX= 413,-0.09,-0.182,-1.613,-0.161,-0.826, PHS= 0.732,-0.740, 0.662, RAW= 147.6, -9.1, CAL= 153.9, -17.6, ROT= 356.1, 17.6
2025-06-05T06:02:09.368Z,1749103329.368 [DAT](INFO): DAT read: $Error in header
2025-06-05T06:02:09.369Z,1749103329.369 [DAT](INFO): Received a bad header
2025-06-05T06:02:09.383Z,1749103329.383 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T06:02:09.384Z,1749103329.384 [DAT](INFO): direction in FSK: [0.950983,-0.064832,-0.302370]
2025-06-05T06:02:09.387Z,1749103329.387 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:09.387Z,1749103329.387 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:09.387Z,1749103329.387 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:09.465Z,1749103329.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:09.471Z,1749103329.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:09.474Z,1749103329.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 75.525719 m,
bearing: 281.938523 deg,
approach rate: -0.663531 m/s,
LOS rate: 0.002645 deg/s,
cmd heading: 287.943399 deg,
new cmd heading: 287.946804 deg.
2025-06-05T06:02:09.479Z,1749103329.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025620 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:09.611Z,1749103329.611 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:09.611Z,1749103329.611 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:09.611Z,1749103329.611 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:09.819Z,1749103329.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:09.821Z,1749103329.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 75.279640 m,
bearing: 281.939444 deg,
approach rate: -0.707789 m/s,
LOS rate: 0.002660 deg/s,
cmd heading: 287.946815 deg,
new cmd heading: 287.949589 deg.
2025-06-05T06:02:09.823Z,1749103329.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025669 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:09.863Z,1749103329.863 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:09.863Z,1749103329.863 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:09.864Z,1749103329.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:10.115Z,1749103330.115 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:10.115Z,1749103330.115 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:10.115Z,1749103330.115 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:10.247Z,1749103330.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:10.249Z,1749103330.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 74.978577 m,
bearing: 281.932317 deg,
approach rate: -0.703998 m/s,
LOS rate: -0.016733 deg/s,
cmd heading: 287.949601 deg,
new cmd heading: 287.928133 deg.
2025-06-05T06:02:10.251Z,1749103330.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025294 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:10.367Z,1749103330.367 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:10.368Z,1749103330.368 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:10.368Z,1749103330.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:10.619Z,1749103330.619 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:10.619Z,1749103330.619 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:10.619Z,1749103330.619 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:10.651Z,1749103330.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:10.653Z,1749103330.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 74.710930 m,
bearing: 281.925847 deg,
approach rate: -0.661809 m/s,
LOS rate: -0.016055 deg/s,
cmd heading: 287.928127 deg,
new cmd heading: 287.908648 deg.
2025-06-05T06:02:10.660Z,1749103330.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.024954 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:10.871Z,1749103330.871 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:10.871Z,1749103330.871 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:10.871Z,1749103330.871 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:11.057Z,1749103331.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:11.076Z,1749103331.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 74.421310 m,
bearing: 281.907326 deg,
approach rate: -0.713039 m/s,
LOS rate: -0.045777 deg/s,
cmd heading: 287.908647 deg,
new cmd heading: 287.852867 deg.
2025-06-05T06:02:11.077Z,1749103331.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.023980 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:11.124Z,1749103331.124 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:11.124Z,1749103331.124 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:11.124Z,1749103331.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:11.376Z,1749103331.376 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:11.376Z,1749103331.376 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:11.377Z,1749103331.377 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:11.450Z,1749103331.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:11.452Z,1749103331.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 74.148697 m,
bearing: 281.889765 deg,
approach rate: -0.694417 m/s,
LOS rate: -0.044897 deg/s,
cmd heading: 287.852858 deg,
new cmd heading: 287.799981 deg.
2025-06-05T06:02:11.453Z,1749103331.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.023057 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:11.627Z,1749103331.627 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:11.627Z,1749103331.627 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:11.627Z,1749103331.627 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:11.845Z,1749103331.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:11.851Z,1749103331.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:11.857Z,1749103331.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 73.882729 m,
bearing: 281.872461 deg,
approach rate: -0.665258 m/s,
LOS rate: -0.043437 deg/s,
cmd heading: 287.799993 deg,
new cmd heading: 287.747895 deg.
2025-06-05T06:02:11.861Z,1749103331.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022148 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:11.879Z,1749103331.879 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:11.879Z,1749103331.879 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:11.879Z,1749103331.879 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:12.132Z,1749103332.132 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:12.132Z,1749103332.132 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:12.132Z,1749103332.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:12.289Z,1749103332.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:12.304Z,1749103332.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 73.573067 m,
bearing: 281.845179 deg,
approach rate: -0.703817 m/s,
LOS rate: -0.062270 deg/s,
cmd heading: 287.747892 deg,
new cmd heading: 287.665701 deg.
2025-06-05T06:02:12.305Z,1749103332.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.020714 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:12.384Z,1749103332.384 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:12.384Z,1749103332.384 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:12.384Z,1749103332.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:12.635Z,1749103332.635 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:12.635Z,1749103332.635 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:12.635Z,1749103332.635 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:12.664Z,1749103332.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:12.672Z,1749103332.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 73.331772 m,
bearing: 281.823674 deg,
approach rate: -0.643398 m/s,
LOS rate: -0.057531 deg/s,
cmd heading: 287.665711 deg,
new cmd heading: 287.600983 deg.
2025-06-05T06:02:12.673Z,1749103332.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.019584 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:12.887Z,1749103332.887 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:12.887Z,1749103332.887 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:12.887Z,1749103332.887 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:13.084Z,1749103333.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:13.088Z,1749103333.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 73.040573 m,
bearing: 281.794949 deg,
approach rate: -0.695083 m/s,
LOS rate: -0.068837 deg/s,
cmd heading: 287.600988 deg,
new cmd heading: 287.514472 deg.
2025-06-05T06:02:13.089Z,1749103333.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.018074 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:13.139Z,1749103333.139 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:13.139Z,1749103333.139 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:13.139Z,1749103333.139 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:13.391Z,1749103333.391 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:13.392Z,1749103333.392 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:13.392Z,1749103333.392 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:13.557Z,1749103333.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:13.561Z,1749103333.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 72.718323 m,
bearing: 281.762721 deg,
approach rate: -0.680230 m/s,
LOS rate: -0.068332 deg/s,
cmd heading: 287.514464 deg,
new cmd heading: 287.417349 deg.
2025-06-05T06:02:13.579Z,1749103333.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.016379 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:13.644Z,1749103333.644 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:13.644Z,1749103333.644 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:13.644Z,1749103333.644 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:13.895Z,1749103333.895 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:13.895Z,1749103333.895 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:13.895Z,1749103333.895 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:13.996Z,1749103333.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:14.005Z,1749103334.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:14.044Z,1749103334.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 72.435509 m,
bearing: 281.733915 deg,
approach rate: -0.633256 m/s,
LOS rate: -0.064751 deg/s,
cmd heading: 287.417338 deg,
new cmd heading: 287.330584 deg.
2025-06-05T06:02:14.045Z,1749103334.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.014865 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:14.148Z,1749103334.148 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:14.148Z,1749103334.148 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:14.149Z,1749103334.149 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:14.399Z,1749103334.399 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:14.399Z,1749103334.399 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:14.399Z,1749103334.399 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:14.501Z,1749103334.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:14.525Z,1749103334.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 72.097687 m,
bearing: 281.698221 deg,
approach rate: -0.679933 m/s,
LOS rate: -0.072177 deg/s,
cmd heading: 287.330595 deg,
new cmd heading: 287.223012 deg.
2025-06-05T06:02:14.531Z,1749103334.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.012987 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:14.651Z,1749103334.651 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:14.651Z,1749103334.651 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:14.651Z,1749103334.651 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:14.860Z,1749103334.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:14.863Z,1749103334.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 71.858307 m,
bearing: 281.672576 deg,
approach rate: -0.665919 m/s,
LOS rate: -0.071580 deg/s,
cmd heading: 287.223006 deg,
new cmd heading: 287.145813 deg.
2025-06-05T06:02:14.864Z,1749103334.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.011640 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:14.903Z,1749103334.903 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:14.903Z,1749103334.903 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:14.903Z,1749103334.903 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:15.155Z,1749103335.155 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:15.155Z,1749103335.155 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:15.155Z,1749103335.155 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:15.311Z,1749103335.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:15.314Z,1749103335.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 71.571617 m,
bearing: 281.648273 deg,
approach rate: -0.634973 m/s,
LOS rate: -0.054042 deg/s,
cmd heading: 287.145825 deg,
new cmd heading: 287.072624 deg.
2025-06-05T06:02:15.315Z,1749103335.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.010363 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:15.407Z,1749103335.407 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:15.407Z,1749103335.407 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:15.407Z,1749103335.407 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:15.660Z,1749103335.660 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:15.660Z,1749103335.660 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:15.660Z,1749103335.660 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T06:02:15.681Z,1749103335.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:15.688Z,1749103335.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 71.346481 m,
bearing: 281.628962 deg,
approach rate: -0.608944 m/s,
LOS rate: -0.052398 deg/s,
cmd heading: 287.072632 deg,
new cmd heading: 287.014516 deg.
2025-06-05T06:02:15.689Z,1749103335.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.009348 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:15.913Z,1749103335.913 [DAT](INFO): Reached modem response timeout
2025-06-05T06:02:15.914Z,1749103335.914 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:02:15.914Z,1749103335.914 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:16.163Z,1749103336.163 [DAT](INFO): Reached modem response timeout
2025-06-05T06:02:16.163Z,1749103336.163 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:02:16.163Z,1749103336.163 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:16.173Z,1749103336.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:16.186Z,1749103336.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:16.189Z,1749103336.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 71.026291 m,
bearing: 281.607159 deg,
approach rate: -0.640208 m/s,
LOS rate: -0.043790 deg/s,
cmd heading: 287.014521 deg,
new cmd heading: 286.948818 deg.
2025-06-05T06:02:16.194Z,1749103336.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.008202 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:16.416Z,1749103336.416 [DAT](INFO): Reached modem response timeout
2025-06-05T06:02:16.416Z,1749103336.416 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:02:16.416Z,1749103336.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:16.622Z,1749103336.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:16.626Z,1749103336.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 70.732712 m,
bearing: 281.586965 deg,
approach rate: -0.666842 m/s,
LOS rate: -0.046059 deg/s,
cmd heading: 286.948815 deg,
new cmd heading: 286.887982 deg.
2025-06-05T06:02:16.628Z,1749103336.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.007140 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:16.668Z,1749103336.668 [DAT](INFO): DAT read: Response Not Received
2025-06-05T06:02:16.668Z,1749103336.668 [DAT](INFO): response not received
2025-06-05T06:02:16.669Z,1749103336.669 [DAT](INFO): DAT read: user:625>
2025-06-05T06:02:16.669Z,1749103336.669 [DAT](INFO): DAT read: Tx time:06:02:15.9211
2025-06-05T06:02:16.670Z,1749103336.670 [DAT](INFO): Ping request sent.
2025-06-05T06:02:16.670Z,1749103336.670 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:02:16.670Z,1749103336.670 [DAT](INFO): publishing transmit ping time
2025-06-05T06:02:16.671Z,1749103336.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000893
2025-06-05T06:02:16.919Z,1749103336.919 [DAT](INFO): DAT read: TxSync time:06:02:15.9204
2025-06-05T06:02:16.920Z,1749103336.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250273
2025-06-05T06:02:17.121Z,1749103337.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:17.124Z,1749103337.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 70.414413 m,
bearing: 281.572304 deg,
approach rate: -0.637829 m/s,
LOS rate: -0.029512 deg/s,
cmd heading: 286.887971 deg,
new cmd heading: 286.843788 deg.
2025-06-05T06:02:17.124Z,1749103337.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.006369 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:17.171Z,1749103337.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501529
2025-06-05T06:02:17.423Z,1749103337.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753569
2025-06-05T06:02:17.440Z,1749103337.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:17.444Z,1749103337.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 70.211250 m,
bearing: 281.563149 deg,
approach rate: -0.636905 m/s,
LOS rate: -0.028783 deg/s,
cmd heading: 286.843794 deg,
new cmd heading: 286.816249 deg.
2025-06-05T06:02:17.445Z,1749103337.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.005888 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:17.677Z,1749103337.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875
2025-06-05T06:02:17.856Z,1749103337.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:17.860Z,1749103337.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 69.946526 m,
bearing: 281.551140 deg,
approach rate: -0.636358 m/s,
LOS rate: -0.028976 deg/s,
cmd heading: 286.816254 deg,
new cmd heading: 286.780092 deg.
2025-06-05T06:02:17.861Z,1749103337.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.005257 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:17.928Z,1749103337.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258758
2025-06-05T06:02:18.181Z,1749103338.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511185
2025-06-05T06:02:18.309Z,1749103338.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:18.320Z,1749103338.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:18.327Z,1749103338.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 69.651268 m,
bearing: 281.545896 deg,
approach rate: -0.636102 m/s,
LOS rate: -0.011345 deg/s,
cmd heading: 286.780082 deg,
new cmd heading: 286.764284 deg.
2025-06-05T06:02:18.328Z,1749103338.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.004981 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:18.432Z,1749103338.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762364
2025-06-05T06:02:18.661Z,1749103338.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:18.664Z,1749103338.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 69.423546 m,
bearing: 281.541722 deg,
approach rate: -0.667128 m/s,
LOS rate: -0.012269 deg/s,
cmd heading: 286.764290 deg,
new cmd heading: 286.751726 deg.
2025-06-05T06:02:18.665Z,1749103338.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.004762 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:18.683Z,1749103338.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013791
2025-06-05T06:02:18.935Z,1749103338.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265474
2025-06-05T06:02:19.134Z,1749103339.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:19.137Z,1749103339.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 69.128319 m,
bearing: 281.536231 deg,
approach rate: -0.645864 m/s,
LOS rate: -0.012064 deg/s,
cmd heading: 286.751723 deg,
new cmd heading: 286.735180 deg.
2025-06-05T06:02:19.146Z,1749103339.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.004473 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:19.187Z,1749103339.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517643
2025-06-05T06:02:19.439Z,1749103339.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769364
2025-06-05T06:02:19.570Z,1749103339.570 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-06-05T06:02:19.570Z,1749103339.570 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-06-05T06:02:19.570Z,1749103339.570 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-05T06:02:19.594Z,1749103339.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:19.597Z,1749103339.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 68.817581 m,
bearing: 281.530401 deg,
approach rate: -0.654683 m/s,
LOS rate: -0.012339 deg/s,
cmd heading: 286.735166 deg,
new cmd heading: 286.717597 deg.
2025-06-05T06:02:19.598Z,1749103339.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.004166 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:19.692Z,1749103339.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022255
2025-06-05T06:02:19.944Z,1749103339.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274083
2025-06-05T06:02:19.996Z,1749103339.996 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-05T06:02:20.045Z,1749103340.045 [RDI_Pathfinder](INFO): Powering down
2025-06-05T06:02:20.139Z,1749103340.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:20.146Z,1749103340.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 68.494003 m,
bearing: 281.525032 deg,
approach rate: -0.591946 m/s,
LOS rate: -0.009868 deg/s,
cmd heading: 286.717599 deg,
new cmd heading: 286.701417 deg.
2025-06-05T06:02:20.147Z,1749103340.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003884 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:20.197Z,1749103340.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527046
2025-06-05T06:02:20.447Z,1749103340.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777455
2025-06-05T06:02:20.611Z,1749103340.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:20.613Z,1749103340.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:20.616Z,1749103340.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 68.155937 m,
bearing: 281.519650 deg,
approach rate: -0.714101 m/s,
LOS rate: -0.011425 deg/s,
cmd heading: 286.701425 deg,
new cmd heading: 286.685199 deg.
2025-06-05T06:02:20.617Z,1749103340.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003601 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:20.699Z,1749103340.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029673
2025-06-05T06:02:20.951Z,1749103340.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281422
2025-06-05T06:02:21.065Z,1749103341.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:21.069Z,1749103341.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 67.861443 m,
bearing: 281.515221 deg,
approach rate: -0.651285 m/s,
LOS rate: -0.009837 deg/s,
cmd heading: 286.685197 deg,
new cmd heading: 286.671852 deg.
2025-06-05T06:02:21.070Z,1749103341.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003368 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:21.203Z,1749103341.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533733
2025-06-05T06:02:21.325Z,1749103341.325 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-05T06:02:21.325Z,1749103341.325 [RDI_Pathfinder] No Fault, FailCount= 1
2025-06-05T06:02:21.440Z,1749103341.440 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-05T06:02:21.455Z,1749103341.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785508
2025-06-05T06:02:21.461Z,1749103341.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:21.464Z,1749103341.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 67.605759 m,
bearing: 281.511664 deg,
approach rate: -0.645347 m/s,
LOS rate: -0.009013 deg/s,
cmd heading: 286.671864 deg,
new cmd heading: 286.661151 deg.
2025-06-05T06:02:21.465Z,1749103341.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003181 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:21.707Z,1749103341.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037428
2025-06-05T06:02:21.873Z,1749103341.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:21.877Z,1749103341.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 67.335854 m,
bearing: 281.508602 deg,
approach rate: -0.655980 m/s,
LOS rate: -0.007471 deg/s,
cmd heading: 286.661154 deg,
new cmd heading: 286.651933 deg.
2025-06-05T06:02:21.879Z,1749103341.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003020 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:21.961Z,1749103341.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291097
2025-06-05T06:02:22.211Z,1749103342.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541392
2025-06-05T06:02:22.295Z,1749103342.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:22.298Z,1749103342.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 67.076408 m,
bearing: 281.505857 deg,
approach rate: -0.614404 m/s,
LOS rate: -0.006525 deg/s,
cmd heading: 286.651920 deg,
new cmd heading: 286.643653 deg.
2025-06-05T06:02:22.303Z,1749103342.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002875 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:22.463Z,1749103342.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793493
2025-06-05T06:02:22.660Z,1749103342.660 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:22.683Z,1749103342.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:22.685Z,1749103342.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 66.823975 m,
bearing: 281.503301 deg,
approach rate: -0.687173 m/s,
LOS rate: -0.006985 deg/s,
cmd heading: 286.643642 deg,
new cmd heading: 286.635944 deg.
2025-06-05T06:02:22.694Z,1749103342.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002741 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:22.715Z,1749103342.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045627
2025-06-05T06:02:22.967Z,1749103342.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297647
2025-06-05T06:02:23.083Z,1749103343.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:23.086Z,1749103343.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 66.561554 m,
bearing: 281.500759 deg,
approach rate: -0.623595 m/s,
LOS rate: -0.006065 deg/s,
cmd heading: 286.635937 deg,
new cmd heading: 286.628281 deg.
2025-06-05T06:02:23.092Z,1749103343.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002607 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:23.219Z,1749103343.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549511
2025-06-05T06:02:23.415Z,1749103343.415 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:02:23.469Z,1749103343.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:23.471Z,1749103343.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801600
2025-06-05T06:02:23.473Z,1749103343.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 66.298782 m,
bearing: 281.498364 deg,
approach rate: -0.681147 m/s,
LOS rate: -0.006232 deg/s,
cmd heading: 286.628287 deg,
new cmd heading: 286.621075 deg.
2025-06-05T06:02:23.477Z,1749103343.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002481 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:23.725Z,1749103343.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055156
2025-06-05T06:02:23.884Z,1749103343.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:23.887Z,1749103343.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 66.030273 m,
bearing: 281.496105 deg,
approach rate: -0.646696 m/s,
LOS rate: -0.005463 deg/s,
cmd heading: 286.621075 deg,
new cmd heading: 286.614270 deg.
2025-06-05T06:02:23.888Z,1749103343.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002363 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:23.977Z,1749103343.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307199
2025-06-05T06:02:24.228Z,1749103344.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558181
2025-06-05T06:02:24.294Z,1749103344.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:24.313Z,1749103344.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 65.763763 m,
bearing: 281.494088 deg,
approach rate: -0.652325 m/s,
LOS rate: -0.004959 deg/s,
cmd heading: 286.614272 deg,
new cmd heading: 286.608194 deg.
2025-06-05T06:02:24.319Z,1749103344.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002257 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:24.419Z,1749103344.419 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:02:24.479Z,1749103344.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809581
2025-06-05T06:02:24.684Z,1749103344.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:24.687Z,1749103344.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:24.689Z,1749103344.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 65.508255 m,
bearing: 281.492302 deg,
approach rate: -0.648983 m/s,
LOS rate: -0.004553 deg/s,
cmd heading: 286.608207 deg,
new cmd heading: 286.602829 deg.
2025-06-05T06:02:24.690Z,1749103344.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002163 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:24.733Z,1749103344.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062843
2025-06-05T06:02:24.983Z,1749103344.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313470
2025-06-05T06:02:25.095Z,1749103345.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:25.097Z,1749103345.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 65.243622 m,
bearing: 281.490677 deg,
approach rate: -0.649069 m/s,
LOS rate: -0.004001 deg/s,
cmd heading: 286.602825 deg,
new cmd heading: 286.597931 deg.
2025-06-05T06:02:25.098Z,1749103345.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002078 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:25.235Z,1749103345.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565428
2025-06-05T06:02:25.488Z,1749103345.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818269
2025-06-05T06:02:25.516Z,1749103345.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:25.520Z,1749103345.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 64.972984 m,
bearing: 281.489233 deg,
approach rate: -0.642132 m/s,
LOS rate: -0.003440 deg/s,
cmd heading: 286.597934 deg,
new cmd heading: 286.593584 deg.
2025-06-05T06:02:25.521Z,1749103345.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002002 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:25.739Z,1749103345.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069434
2025-06-05T06:02:25.900Z,1749103345.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:25.903Z,1749103345.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 64.720299 m,
bearing: 281.487986 deg,
approach rate: -0.656969 m/s,
LOS rate: -0.003255 deg/s,
cmd heading: 286.593590 deg,
new cmd heading: 286.589834 deg.
2025-06-05T06:02:25.904Z,1749103345.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001936 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:25.993Z,1749103345.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323326
2025-06-05T06:02:26.244Z,1749103346.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573867
2025-06-05T06:02:26.302Z,1749103346.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:26.304Z,1749103346.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 64.457649 m,
bearing: 281.486805 deg,
approach rate: -0.654312 m/s,
LOS rate: -0.002954 deg/s,
cmd heading: 286.589847 deg,
new cmd heading: 286.586290 deg.
2025-06-05T06:02:26.305Z,1749103346.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001874 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:26.497Z,1749103346.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827172
2025-06-05T06:02:26.711Z,1749103346.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:26.713Z,1749103346.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:26.717Z,1749103346.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 64.191208 m,
bearing: 281.485709 deg,
approach rate: -0.646856 m/s,
LOS rate: -0.002672 deg/s,
cmd heading: 286.586295 deg,
new cmd heading: 286.582993 deg.
2025-06-05T06:02:26.718Z,1749103346.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001817 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:26.747Z,1749103346.747 [DAT](INFO): Reached modem response timeout
2025-06-05T06:02:26.747Z,1749103346.747 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:02:26.747Z,1749103346.747 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:27.001Z,1749103347.001 [DAT](INFO): Reached modem response timeout
2025-06-05T06:02:27.001Z,1749103347.001 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:02:27.001Z,1749103347.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:27.127Z,1749103347.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:27.129Z,1749103347.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 63.922653 m,
bearing: 281.484669 deg,
approach rate: -0.652552 m/s,
LOS rate: -0.002537 deg/s,
cmd heading: 286.582990 deg,
new cmd heading: 286.579858 deg.
2025-06-05T06:02:27.131Z,1749103347.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001762 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:27.255Z,1749103347.255 [DAT](INFO): Reached modem response timeout
2025-06-05T06:02:27.255Z,1749103347.255 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:02:27.255Z,1749103347.255 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:27.508Z,1749103347.508 [DAT](INFO): DAT read: Response Not Received
2025-06-05T06:02:27.509Z,1749103347.509 [DAT](INFO): response not received
2025-06-05T06:02:27.510Z,1749103347.510 [DAT](INFO): DAT read: user:626>
2025-06-05T06:02:27.511Z,1749103347.511 [DAT](ERROR): No response from remote modem.
2025-06-05T06:02:27.511Z,1749103347.511 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:02:27.512Z,1749103347.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:27.540Z,1749103347.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:27.544Z,1749103347.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 63.654675 m,
bearing: 281.483715 deg,
approach rate: -0.648865 m/s,
LOS rate: -0.002322 deg/s,
cmd heading: 286.579848 deg,
new cmd heading: 286.576971 deg.
2025-06-05T06:02:27.545Z,1749103347.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001712 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:27.760Z,1749103347.760 [DAT](INFO): DAT read: Tx time:06:02:26.8712
2025-06-05T06:02:27.761Z,1749103347.761 [DAT](INFO): Ping request sent.
2025-06-05T06:02:27.761Z,1749103347.761 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:02:27.762Z,1749103347.762 [DAT](INFO): DAT read: TxSync time:06:02:26.8705
2025-06-05T06:02:27.762Z,1749103347.762 [DAT](INFO): publishing transmit ping time
2025-06-05T06:02:27.763Z,1749103347.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001643
2025-06-05T06:02:27.936Z,1749103347.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:27.939Z,1749103347.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 63.395237 m,
bearing: 281.482783 deg,
approach rate: -0.651999 m/s,
LOS rate: -0.002352 deg/s,
cmd heading: 286.576979 deg,
new cmd heading: 286.574171 deg.
2025-06-05T06:02:27.940Z,1749103347.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001663 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:28.012Z,1749103348.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250598
2025-06-05T06:02:28.263Z,1749103348.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502161
2025-06-05T06:02:28.330Z,1749103348.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:28.333Z,1749103348.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 63.138954 m,
bearing: 281.482326 deg,
approach rate: -0.650776 m/s,
LOS rate: -0.001163 deg/s,
cmd heading: 286.574165 deg,
new cmd heading: 286.572791 deg.
2025-06-05T06:02:28.334Z,1749103348.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001639 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:28.521Z,1749103348.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759600
2025-06-05T06:02:28.772Z,1749103348.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010618
2025-06-05T06:02:28.799Z,1749103348.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:28.801Z,1749103348.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:28.814Z,1749103348.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 62.848118 m,
bearing: 281.481935 deg,
approach rate: -0.616659 m/s,
LOS rate: -0.000834 deg/s,
cmd heading: 286.572799 deg,
new cmd heading: 286.571618 deg.
2025-06-05T06:02:28.819Z,1749103348.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001618 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:29.023Z,1749103349.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262206
2025-06-05T06:02:29.134Z,1749103349.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:29.137Z,1749103349.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 62.616947 m,
bearing: 281.481933 deg,
approach rate: -0.694600 m/s,
LOS rate: -0.000006 deg/s,
cmd heading: 286.571624 deg,
new cmd heading: 286.571618 deg.
2025-06-05T06:02:29.138Z,1749103349.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001618 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:29.277Z,1749103349.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515549
2025-06-05T06:02:29.528Z,1749103349.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766621
2025-06-05T06:02:29.549Z,1749103349.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:29.552Z,1749103349.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 62.346909 m,
bearing: 281.481685 deg,
approach rate: -0.650877 m/s,
LOS rate: -0.000600 deg/s,
cmd heading: 286.571624 deg,
new cmd heading: 286.570878 deg.
2025-06-05T06:02:29.553Z,1749103349.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001606 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:29.779Z,1749103349.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018225
2025-06-05T06:02:29.959Z,1749103349.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:29.963Z,1749103349.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 62.080582 m,
bearing: 281.481439 deg,
approach rate: -0.651309 m/s,
LOS rate: -0.000605 deg/s,
cmd heading: 286.570887 deg,
new cmd heading: 286.570144 deg.
2025-06-05T06:02:29.964Z,1749103349.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001593 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:30.031Z,1749103350.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270145
2025-06-05T06:02:30.283Z,1749103350.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522167
2025-06-05T06:02:30.363Z,1749103350.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:30.366Z,1749103350.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 61.816452 m,
bearing: 281.481167 deg,
approach rate: -0.651964 m/s,
LOS rate: -0.000673 deg/s,
cmd heading: 286.570149 deg,
new cmd heading: 286.569331 deg.
2025-06-05T06:02:30.367Z,1749103350.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001578 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:30.535Z,1749103350.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774093
2025-06-05T06:02:30.750Z,1749103350.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:30.769Z,1749103350.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 61.566181 m,
bearing: 281.481059 deg,
approach rate: -0.647302 m/s,
LOS rate: -0.000280 deg/s,
cmd heading: 286.569329 deg,
new cmd heading: 286.569004 deg.
2025-06-05T06:02:30.770Z,1749103350.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001573 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:30.787Z,1749103350.787 [DAT](INFO): DAT read: Rx Time:06:02:29.3594
2025-06-05T06:02:30.788Z,1749103350.788 [DAT](INFO): Rx dataTimestamp_ set to:1749103350.787467
2025-06-05T06:02:30.788Z,1749103350.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027334
2025-06-05T06:02:31.040Z,1749103351.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278913
2025-06-05T06:02:31.173Z,1749103351.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:31.177Z,1749103351.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.98 m.
2025-06-05T06:02:31.180Z,1749103351.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.979507 m,
nav range: 61.288235 m,
bearing: 281.481141 deg,
approach rate: -0.650222 m/s,
LOS rate: 0.000191 deg/s,
cmd heading: 286.569001 deg,
new cmd heading: 286.569247 deg.
2025-06-05T06:02:31.181Z,1749103351.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001577 target range: 78.979507 and range: 79.60 m.
2025-06-05T06:02:31.300Z,1749103351.300 [DAT](INFO): DAT read: 06:02:29.3594 LVL= 25680, 29617, 24738, 28131, AGC= 69, IDX= 217,-0.36,-3.013, 1.822,-2.919, 3.028, PHS= 0.330,-1.158, 0.333, RAW= 150.1, 6.7, CAL= 151.3, -2.2, ROT= 358.7, 2.2
2025-06-05T06:02:31.301Z,1749103351.301 [DAT](INFO): got valid direction response:
06:02:29.3594 LVL= 25680, 29617, 24738, 28131, AGC= 69, IDX= 217,-0.36,-3.013, 1.822,-2.919, 3.028, PHS= 0.330,-1.158, 0.333, RAW= 150.1, 6.7, CAL= 151.3, -2.2, ROT= 358.7, 2.2
2025-06-05T06:02:31.302Z,1749103351.302 [DAT](INFO): DAT read: Bearing 358.7, 2.2 (Local)
2025-06-05T06:02:31.302Z,1749103351.302 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.7, 2.2 (Local)
2025-06-05T06:02:31.310Z,1749103351.310 [DAT](INFO): DAT read: Range 10 to 50 : 63.0 m (Round-trip 84.0 ms) speed 0.6 m/s
2025-06-05T06:02:31.319Z,1749103351.319 [DAT](INFO): DAT read: user:627>
2025-06-05T06:02:31.319Z,1749103351.319 [DAT](INFO): DAT read: Tx time:06:02:30.4728
2025-06-05T06:02:31.320Z,1749103351.320 [DAT](INFO): Ping request sent.
2025-06-05T06:02:31.320Z,1749103351.320 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:02:31.320Z,1749103351.320 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:02:31.321Z,1749103351.321 [DAT](INFO): direction in FSK: [0.999006,-0.022670,-0.038388]
2025-06-05T06:02:31.321Z,1749103351.321 [DAT](INFO): publishing transmit ping time
2025-06-05T06:02:31.322Z,1749103351.322 [DAT](INFO): publishing direction and range info
2025-06-05T06:02:31.329Z,1749103351.329 [DAT](INFO): publishing transmit ping time
2025-06-05T06:02:31.330Z,1749103351.330 [DAT](INFO): publishing direction and range info
2025-06-05T06:02:31.545Z,1749103351.545 [DAT](INFO): DAT read: TxSync time:06:02:30.4720
2025-06-05T06:02:31.633Z,1749103351.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 63.000000 m,
deltaT: 25.473155 s,
deltaX: -16.599998 m,
approachRate: -0.651666 m/s,
rangeRepo size: 4
2025-06-05T06:02:31.650Z,1749103351.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 62.505726 m,
bearing: 284.784861 deg,
lat: 36.906120 deg,
lon: -122.116045 deg,
deltaT: 25.473155 s,
deltaX: -16.473782 m,
approachRate: -0.646711 m/s,
posRepo size: 4
2025-06-05T06:02:31.666Z,1749103351.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:31.687Z,1749103351.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 61.271721 m,
bearing: 282.603617 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000191 deg/s,
cmd heading: 286.569247 deg,
new cmd heading: 286.569504 deg.
2025-06-05T06:02:31.691Z,1749103351.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001581 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:31.995Z,1749103351.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:31.997Z,1749103351.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 61.012253 m,
bearing: 282.609305 deg,
approach rate: -0.700619 m/s,
LOS rate: 0.015427 deg/s,
cmd heading: 286.569493 deg,
new cmd heading: 286.586632 deg.
2025-06-05T06:02:32.015Z,1749103352.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001880 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:32.408Z,1749103352.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:32.411Z,1749103352.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 60.742092 m,
bearing: 282.615441 deg,
approach rate: -0.654339 m/s,
LOS rate: 0.014927 deg/s,
cmd heading: 286.586623 deg,
new cmd heading: 286.605112 deg.
2025-06-05T06:02:32.412Z,1749103352.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002203 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:32.806Z,1749103352.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:32.810Z,1749103352.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 60.483856 m,
bearing: 282.621972 deg,
approach rate: -0.648870 m/s,
LOS rate: 0.016481 deg/s,
cmd heading: 286.605119 deg,
new cmd heading: 286.624796 deg.
2025-06-05T06:02:32.811Z,1749103352.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002546 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:33.203Z,1749103353.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:33.205Z,1749103353.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:33.209Z,1749103353.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 60.223850 m,
bearing: 282.628583 deg,
approach rate: -0.650902 m/s,
LOS rate: 0.016620 deg/s,
cmd heading: 286.624790 deg,
new cmd heading: 286.644707 deg.
2025-06-05T06:02:33.215Z,1749103353.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002894 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:33.307Z,1749103353.307 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:33.307Z,1749103353.307 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:33.308Z,1749103353.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:33.560Z,1749103353.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240045
2025-06-05T06:02:33.632Z,1749103353.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:33.644Z,1749103353.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 59.959984 m,
bearing: 282.635379 deg,
approach rate: -0.617698 m/s,
LOS rate: 0.015980 deg/s,
cmd heading: 286.644707 deg,
new cmd heading: 286.665186 deg.
2025-06-05T06:02:33.645Z,1749103353.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003252 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:33.812Z,1749103353.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492256
2025-06-05T06:02:34.063Z,1749103354.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743399
2025-06-05T06:02:34.070Z,1749103354.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:34.075Z,1749103354.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 59.664989 m,
bearing: 282.643135 deg,
approach rate: -0.677477 m/s,
LOS rate: 0.017901 deg/s,
cmd heading: 286.665198 deg,
new cmd heading: 286.688582 deg.
2025-06-05T06:02:34.077Z,1749103354.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003660 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:34.315Z,1749103354.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995527
2025-06-05T06:02:34.483Z,1749103354.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:34.492Z,1749103354.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 59.411160 m,
bearing: 282.649947 deg,
approach rate: -0.611029 m/s,
LOS rate: 0.016468 deg/s,
cmd heading: 286.688584 deg,
new cmd heading: 286.709108 deg.
2025-06-05T06:02:34.494Z,1749103354.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.004018 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:34.567Z,1749103354.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247349
2025-06-05T06:02:34.819Z,1749103354.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499312
2025-06-05T06:02:34.909Z,1749103354.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:34.912Z,1749103354.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 59.116348 m,
bearing: 282.648676 deg,
approach rate: -0.694030 m/s,
LOS rate: -0.003008 deg/s,
cmd heading: 286.709102 deg,
new cmd heading: 286.705269 deg.
2025-06-05T06:02:34.913Z,1749103354.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003951 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:35.071Z,1749103355.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751286
2025-06-05T06:02:35.282Z,1749103355.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:35.284Z,1749103355.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:35.292Z,1749103355.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 58.890820 m,
bearing: 282.647702 deg,
approach rate: -0.599114 m/s,
LOS rate: -0.002597 deg/s,
cmd heading: 286.705277 deg,
new cmd heading: 286.702344 deg.
2025-06-05T06:02:35.294Z,1749103355.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003900 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:35.323Z,1749103355.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.003307
2025-06-05T06:02:35.575Z,1749103355.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.255249
2025-06-05T06:02:35.664Z,1749103355.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:35.672Z,1749103355.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 58.626179 m,
bearing: 282.646556 deg,
approach rate: -0.697697 m/s,
LOS rate: -0.003035 deg/s,
cmd heading: 286.702354 deg,
new cmd heading: 286.698900 deg.
2025-06-05T06:02:35.673Z,1749103355.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003840 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:35.828Z,1749103355.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.507662
2025-06-05T06:02:36.079Z,1749103356.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.759244
2025-06-05T06:02:36.123Z,1749103356.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:36.131Z,1749103356.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 58.345207 m,
bearing: 282.637955 deg,
approach rate: -0.611422 m/s,
LOS rate: -0.018805 deg/s,
cmd heading: 286.698912 deg,
new cmd heading: 286.672987 deg.
2025-06-05T06:02:36.132Z,1749103356.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003387 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:36.331Z,1749103356.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.011270
2025-06-05T06:02:36.477Z,1749103356.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:36.480Z,1749103356.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 58.111248 m,
bearing: 282.630255 deg,
approach rate: -0.660762 m/s,
LOS rate: -0.021836 deg/s,
cmd heading: 286.672984 deg,
new cmd heading: 286.649789 deg.
2025-06-05T06:02:36.481Z,1749103356.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002983 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:36.583Z,1749103356.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.263340
2025-06-05T06:02:36.836Z,1749103356.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.515967
2025-06-05T06:02:36.929Z,1749103356.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:36.936Z,1749103356.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 57.845360 m,
bearing: 282.619825 deg,
approach rate: -0.588014 m/s,
LOS rate: -0.023172 deg/s,
cmd heading: 286.649789 deg,
new cmd heading: 286.618355 deg.
2025-06-05T06:02:36.937Z,1749103356.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002434 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:37.087Z,1749103357.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.767208
2025-06-05T06:02:37.271Z,1749103357.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:37.273Z,1749103357.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 57.623615 m,
bearing: 282.610871 deg,
approach rate: -0.649525 m/s,
LOS rate: -0.026328 deg/s,
cmd heading: 286.618343 deg,
new cmd heading: 286.591378 deg.
2025-06-05T06:02:37.295Z,1749103357.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001963 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:37.339Z,1749103357.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.019330
2025-06-05T06:02:37.591Z,1749103357.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.271498
2025-06-05T06:02:37.704Z,1749103357.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:37.711Z,1749103357.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:37.721Z,1749103357.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 57.371807 m,
bearing: 282.600373 deg,
approach rate: -0.572360 m/s,
LOS rate: -0.023967 deg/s,
cmd heading: 286.591377 deg,
new cmd heading: 286.559745 deg.
2025-06-05T06:02:37.730Z,1749103357.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001411 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:37.844Z,1749103357.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.524472
2025-06-05T06:02:38.095Z,1749103358.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.775296
2025-06-05T06:02:38.140Z,1749103358.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:38.148Z,1749103358.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 57.094894 m,
bearing: 282.582543 deg,
approach rate: -0.644539 m/s,
LOS rate: -0.041700 deg/s,
cmd heading: 286.559740 deg,
new cmd heading: 286.505993 deg.
2025-06-05T06:02:38.149Z,1749103358.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.000473 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:38.347Z,1749103358.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.027516
2025-06-05T06:02:38.520Z,1749103358.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:38.529Z,1749103358.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 56.882870 m,
bearing: 282.568582 deg,
approach rate: -0.559169 m/s,
LOS rate: -0.036957 deg/s,
cmd heading: 286.506000 deg,
new cmd heading: 286.463960 deg.
2025-06-05T06:02:38.536Z,1749103358.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999739 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:38.600Z,1749103358.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.280495
2025-06-05T06:02:38.851Z,1749103358.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.531144
2025-06-05T06:02:38.953Z,1749103358.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:38.956Z,1749103358.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 56.588001 m,
bearing: 282.548247 deg,
approach rate: -0.680700 m/s,
LOS rate: -0.047189 deg/s,
cmd heading: 286.463953 deg,
new cmd heading: 286.402628 deg.
2025-06-05T06:02:38.957Z,1749103358.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998669 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:39.103Z,1749103359.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.783311
2025-06-05T06:02:39.295Z,1749103359.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:39.297Z,1749103359.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 56.373844 m,
bearing: 282.532900 deg,
approach rate: -0.627333 m/s,
LOS rate: -0.045127 deg/s,
cmd heading: 286.402618 deg,
new cmd heading: 286.356402 deg.
2025-06-05T06:02:39.314Z,1749103359.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997862 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:39.355Z,1749103359.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.035622
2025-06-05T06:02:39.607Z,1749103359.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.287197
2025-06-05T06:02:39.715Z,1749103359.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:39.717Z,1749103359.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:39.720Z,1749103359.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 56.110210 m,
bearing: 282.513704 deg,
approach rate: -0.622648 m/s,
LOS rate: -0.045548 deg/s,
cmd heading: 286.356391 deg,
new cmd heading: 286.298535 deg.
2025-06-05T06:02:39.721Z,1749103359.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996852 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:39.860Z,1749103359.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.540377
2025-06-05T06:02:40.111Z,1749103360.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.791374
2025-06-05T06:02:40.168Z,1749103360.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:40.176Z,1749103360.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 55.824081 m,
bearing: 282.494269 deg,
approach rate: -0.635554 m/s,
LOS rate: -0.043391 deg/s,
cmd heading: 286.298526 deg,
new cmd heading: 286.239921 deg.
2025-06-05T06:02:40.177Z,1749103360.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995829 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:40.363Z,1749103360.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.043577
2025-06-05T06:02:40.617Z,1749103360.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.296747
2025-06-05T06:02:40.666Z,1749103360.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:40.683Z,1749103360.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 55.508636 m,
bearing: 282.472612 deg,
approach rate: -0.638231 m/s,
LOS rate: -0.044067 deg/s,
cmd heading: 286.239923 deg,
new cmd heading: 286.174583 deg.
2025-06-05T06:02:40.685Z,1749103360.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994689 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:40.868Z,1749103360.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.547891
2025-06-05T06:02:41.119Z,1749103361.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.799139
2025-06-05T06:02:41.201Z,1749103361.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:41.204Z,1749103361.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 55.132870 m,
bearing: 282.450083 deg,
approach rate: -0.697696 m/s,
LOS rate: -0.042116 deg/s,
cmd heading: 286.174572 deg,
new cmd heading: 286.106524 deg.
2025-06-05T06:02:41.205Z,1749103361.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993501 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:41.372Z,1749103361.372 [DAT](INFO): Reached modem response timeout
2025-06-05T06:02:41.372Z,1749103361.372 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:02:41.372Z,1749103361.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:41.617Z,1749103361.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:41.623Z,1749103361.623 [DAT](INFO): Reached modem response timeout
2025-06-05T06:02:41.623Z,1749103361.623 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:02:41.623Z,1749103361.623 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:41.633Z,1749103361.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 54.863518 m,
bearing: 282.433994 deg,
approach rate: -0.646935 m/s,
LOS rate: -0.038833 deg/s,
cmd heading: 286.106516 deg,
new cmd heading: 286.058011 deg.
2025-06-05T06:02:41.639Z,1749103361.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.992654 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:41.876Z,1749103361.876 [DAT](INFO): Reached modem response timeout
2025-06-05T06:02:41.876Z,1749103361.876 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:02:41.877Z,1749103361.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:42.017Z,1749103362.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:42.020Z,1749103362.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:42.023Z,1749103362.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 54.572758 m,
bearing: 282.417088 deg,
approach rate: -0.721870 m/s,
LOS rate: -0.042196 deg/s,
cmd heading: 286.058021 deg,
new cmd heading: 286.007033 deg.
2025-06-05T06:02:42.024Z,1749103362.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.991765 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:42.129Z,1749103362.129 [DAT](INFO): DAT read: Response Not Received
2025-06-05T06:02:42.129Z,1749103362.129 [DAT](INFO): response not received
2025-06-05T06:02:42.130Z,1749103362.130 [DAT](INFO): DAT read: user:628>
2025-06-05T06:02:42.132Z,1749103362.132 [DAT](INFO): DAT read: Tx time:06:02:41.4213
2025-06-05T06:02:42.133Z,1749103362.133 [DAT](INFO): Ping request sent.
2025-06-05T06:02:42.133Z,1749103362.133 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:02:42.133Z,1749103362.133 [DAT](INFO): publishing transmit ping time
2025-06-05T06:02:42.134Z,1749103362.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-06-05T06:02:42.379Z,1749103362.379 [DAT](INFO): DAT read: TxSync time:06:02:41.4206
2025-06-05T06:02:42.380Z,1749103362.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247223
2025-06-05T06:02:42.401Z,1749103362.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:42.404Z,1749103362.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 54.311390 m,
bearing: 282.402084 deg,
approach rate: -0.685972 m/s,
LOS rate: -0.039568 deg/s,
cmd heading: 286.007041 deg,
new cmd heading: 285.961813 deg.
2025-06-05T06:02:42.404Z,1749103362.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.990975 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:42.631Z,1749103362.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498080
2025-06-05T06:02:42.839Z,1749103362.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:42.873Z,1749103362.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 54.027073 m,
bearing: 282.386549 deg,
approach rate: -0.651121 m/s,
LOS rate: -0.035763 deg/s,
cmd heading: 285.961825 deg,
new cmd heading: 285.914976 deg.
2025-06-05T06:02:42.879Z,1749103362.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.990158 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:42.883Z,1749103362.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750283
2025-06-05T06:02:43.135Z,1749103363.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002219
2025-06-05T06:02:43.255Z,1749103363.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:43.262Z,1749103363.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 53.738953 m,
bearing: 282.377374 deg,
approach rate: -0.692785 m/s,
LOS rate: -0.022180 deg/s,
cmd heading: 285.914970 deg,
new cmd heading: 285.887296 deg.
2025-06-05T06:02:43.263Z,1749103363.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989675 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:43.387Z,1749103363.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254176
2025-06-05T06:02:43.607Z,1749103363.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:43.630Z,1749103363.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 53.477882 m,
bearing: 282.369389 deg,
approach rate: -0.738029 m/s,
LOS rate: -0.022685 deg/s,
cmd heading: 285.887294 deg,
new cmd heading: 285.863220 deg.
2025-06-05T06:02:43.635Z,1749103363.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989254 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:43.639Z,1749103363.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506286
2025-06-05T06:02:43.892Z,1749103363.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758618
2025-06-05T06:02:44.034Z,1749103364.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:44.036Z,1749103364.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:44.039Z,1749103364.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 53.187260 m,
bearing: 282.363241 deg,
approach rate: -0.677706 m/s,
LOS rate: -0.014415 deg/s,
cmd heading: 285.863224 deg,
new cmd heading: 285.844680 deg.
2025-06-05T06:02:44.040Z,1749103364.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988931 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:44.144Z,1749103364.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011283
2025-06-05T06:02:44.395Z,1749103364.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262068
2025-06-05T06:02:44.466Z,1749103364.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:44.469Z,1749103364.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 52.903999 m,
bearing: 282.357419 deg,
approach rate: -0.664526 m/s,
LOS rate: -0.013732 deg/s,
cmd heading: 285.844674 deg,
new cmd heading: 285.827114 deg.
2025-06-05T06:02:44.470Z,1749103364.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988624 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:44.648Z,1749103364.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515333
2025-06-05T06:02:44.825Z,1749103364.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:44.829Z,1749103364.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 52.654831 m,
bearing: 282.352613 deg,
approach rate: -0.686954 m/s,
LOS rate: -0.013312 deg/s,
cmd heading: 285.827106 deg,
new cmd heading: 285.812621 deg.
2025-06-05T06:02:44.830Z,1749103364.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988371 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:44.902Z,1749103364.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768649
2025-06-05T06:02:45.151Z,1749103365.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018183
2025-06-05T06:02:45.279Z,1749103365.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:45.281Z,1749103365.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 52.371159 m,
bearing: 282.353708 deg,
approach rate: -0.631455 m/s,
LOS rate: 0.002450 deg/s,
cmd heading: 285.812626 deg,
new cmd heading: 285.815928 deg.
2025-06-05T06:02:45.286Z,1749103365.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988429 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:45.403Z,1749103365.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270280
2025-06-05T06:02:45.646Z,1749103365.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:45.657Z,1749103365.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523466
2025-06-05T06:02:45.667Z,1749103365.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 52.123917 m,
bearing: 282.354996 deg,
approach rate: -0.667161 m/s,
LOS rate: 0.003494 deg/s,
cmd heading: 285.815932 deg,
new cmd heading: 285.819816 deg.
2025-06-05T06:02:45.679Z,1749103365.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988497 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:45.912Z,1749103365.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778897
2025-06-05T06:02:46.071Z,1749103366.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:46.074Z,1749103366.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:46.079Z,1749103366.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 51.825649 m,
bearing: 282.356575 deg,
approach rate: -0.695251 m/s,
LOS rate: 0.003701 deg/s,
cmd heading: 285.819812 deg,
new cmd heading: 285.824575 deg.
2025-06-05T06:02:46.080Z,1749103366.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988580 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:46.161Z,1749103366.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028139
2025-06-05T06:02:46.411Z,1749103366.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.278062
2025-06-05T06:02:46.438Z,1749103366.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:46.441Z,1749103366.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 51.581074 m,
bearing: 282.357915 deg,
approach rate: -0.671632 m/s,
LOS rate: 0.003696 deg/s,
cmd heading: 285.824565 deg,
new cmd heading: 285.828603 deg.
2025-06-05T06:02:46.443Z,1749103366.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988650 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:46.664Z,1749103366.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531087
2025-06-05T06:02:46.918Z,1749103366.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784497
2025-06-05T06:02:46.999Z,1749103366.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:47.012Z,1749103367.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 51.231930 m,
bearing: 282.359853 deg,
approach rate: -0.621622 m/s,
LOS rate: 0.003474 deg/s,
cmd heading: 285.828609 deg,
new cmd heading: 285.834462 deg.
2025-06-05T06:02:47.013Z,1749103367.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988752 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:47.167Z,1749103367.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034108
2025-06-05T06:02:47.420Z,1749103367.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286608
2025-06-05T06:02:47.523Z,1749103367.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:47.527Z,1749103367.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 50.894905 m,
bearing: 282.361748 deg,
approach rate: -0.644154 m/s,
LOS rate: 0.003647 deg/s,
cmd heading: 285.834456 deg,
new cmd heading: 285.840181 deg.
2025-06-05T06:02:47.528Z,1749103367.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988853 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:47.672Z,1749103367.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539027
2025-06-05T06:02:47.927Z,1749103367.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793686
2025-06-05T06:02:48.047Z,1749103368.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:48.049Z,1749103368.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 50.534966 m,
bearing: 282.362851 deg,
approach rate: -0.687334 m/s,
LOS rate: 0.002121 deg/s,
cmd heading: 285.840193 deg,
new cmd heading: 285.843525 deg.
2025-06-05T06:02:48.051Z,1749103368.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988911 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:48.177Z,1749103368.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044031
2025-06-05T06:02:48.428Z,1749103368.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295372
2025-06-05T06:02:48.536Z,1749103368.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:48.544Z,1749103368.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:48.551Z,1749103368.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 50.215599 m,
bearing: 282.364912 deg,
approach rate: -0.642656 m/s,
LOS rate: 0.004175 deg/s,
cmd heading: 285.843526 deg,
new cmd heading: 285.849750 deg.
2025-06-05T06:02:48.552Z,1749103368.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989019 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:48.679Z,1749103368.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546215
2025-06-05T06:02:48.936Z,1749103368.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802639
2025-06-05T06:02:49.015Z,1749103369.015 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060422040539,35.0, +10.7, 04, 0
2025-06-05T06:02:49.083Z,1749103369.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:49.090Z,1749103369.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 49.885006 m,
bearing: 282.367074 deg,
approach rate: -0.611990 m/s,
LOS rate: 0.004028 deg/s,
cmd heading: 285.849755 deg,
new cmd heading: 285.856283 deg.
2025-06-05T06:02:49.093Z,1749103369.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989133 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:49.183Z,1749103369.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050241
2025-06-05T06:02:49.435Z,1749103369.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.302025
2025-06-05T06:02:49.580Z,1749103369.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:49.587Z,1749103369.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 49.530712 m,
bearing: 282.371163 deg,
approach rate: -0.714160 m/s,
LOS rate: 0.008302 deg/s,
cmd heading: 285.856285 deg,
new cmd heading: 285.868641 deg.
2025-06-05T06:02:49.588Z,1749103369.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989349 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:49.687Z,1749103369.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554577
2025-06-05T06:02:49.943Z,1749103369.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808995
2025-06-05T06:02:50.141Z,1749103370.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:50.148Z,1749103370.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 49.165627 m,
bearing: 282.369999 deg,
approach rate: -0.650217 m/s,
LOS rate: -0.002089 deg/s,
cmd heading: 285.868634 deg,
new cmd heading: 285.865115 deg.
2025-06-05T06:02:50.149Z,1749103370.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989287 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:50.191Z,1749103370.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058443
2025-06-05T06:02:50.445Z,1749103370.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311616
2025-06-05T06:02:50.666Z,1749103370.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:50.668Z,1749103370.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:50.677Z,1749103370.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 48.810078 m,
bearing: 282.369467 deg,
approach rate: -0.674140 m/s,
LOS rate: -0.001016 deg/s,
cmd heading: 285.865109 deg,
new cmd heading: 285.863502 deg.
2025-06-05T06:02:50.683Z,1749103370.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989259 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:50.695Z,1749103370.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562453
2025-06-05T06:02:50.950Z,1749103370.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816166
2025-06-05T06:02:51.178Z,1749103371.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:51.185Z,1749103371.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 48.468594 m,
bearing: 282.362724 deg,
approach rate: -0.670485 m/s,
LOS rate: -0.013334 deg/s,
cmd heading: 285.863498 deg,
new cmd heading: 285.843125 deg.
2025-06-05T06:02:51.186Z,1749103371.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988904 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:51.200Z,1749103371.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066657
2025-06-05T06:02:51.451Z,1749103371.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318333
2025-06-05T06:02:51.672Z,1749103371.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:51.675Z,1749103371.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 48.138344 m,
bearing: 282.356524 deg,
approach rate: -0.668726 m/s,
LOS rate: -0.012639 deg/s,
cmd heading: 285.843116 deg,
new cmd heading: 285.824391 deg.
2025-06-05T06:02:51.677Z,1749103371.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988577 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:51.704Z,1749103371.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570684
2025-06-05T06:02:51.959Z,1749103371.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824678
2025-06-05T06:02:52.145Z,1749103372.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:52.148Z,1749103372.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 47.831146 m,
bearing: 282.346312 deg,
approach rate: -0.648587 m/s,
LOS rate: -0.021701 deg/s,
cmd heading: 285.824402 deg,
new cmd heading: 285.793567 deg.
2025-06-05T06:02:52.149Z,1749103372.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988039 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:52.207Z,1749103372.207 [DAT](INFO): Reached modem response timeout
2025-06-05T06:02:52.207Z,1749103372.207 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:02:52.207Z,1749103372.207 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:52.460Z,1749103372.460 [DAT](INFO): Reached modem response timeout
2025-06-05T06:02:52.461Z,1749103372.461 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:02:52.461Z,1749103372.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:52.589Z,1749103372.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:52.597Z,1749103372.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 47.545883 m,
bearing: 282.337044 deg,
approach rate: -0.642103 m/s,
LOS rate: -0.020987 deg/s,
cmd heading: 285.793556 deg,
new cmd heading: 285.765585 deg.
2025-06-05T06:02:52.598Z,1749103372.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.987550 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:52.711Z,1749103372.711 [DAT](INFO): Reached modem response timeout
2025-06-05T06:02:52.711Z,1749103372.711 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:02:52.711Z,1749103372.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:52.965Z,1749103372.965 [DAT](INFO): Reached modem response timeout
2025-06-05T06:02:52.966Z,1749103372.966 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:02:52.967Z,1749103372.967 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:53.117Z,1749103373.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:53.120Z,1749103373.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:53.123Z,1749103373.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 47.192078 m,
bearing: 282.318235 deg,
approach rate: -0.667243 m/s,
LOS rate: -0.035737 deg/s,
cmd heading: 285.765580 deg,
new cmd heading: 285.708731 deg.
2025-06-05T06:02:53.124Z,1749103373.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.986558 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:53.215Z,1749103373.215 [DAT](INFO): DAT read: Response Not Received
2025-06-05T06:02:53.216Z,1749103373.216 [DAT](INFO): response not received
2025-06-05T06:02:53.216Z,1749103373.216 [DAT](INFO): DAT read: user:629>
2025-06-05T06:02:53.217Z,1749103373.217 [DAT](INFO): DAT read: Tx time:06:02:52.3715
2025-06-05T06:02:53.217Z,1749103373.217 [DAT](INFO): Ping request sent.
2025-06-05T06:02:53.217Z,1749103373.217 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:02:53.217Z,1749103373.217 [DAT](INFO): publishing transmit ping time
2025-06-05T06:02:53.218Z,1749103373.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-06-05T06:02:53.467Z,1749103373.467 [DAT](INFO): DAT read: TxSync time:06:02:52.3708
2025-06-05T06:02:53.468Z,1749103373.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251107
2025-06-05T06:02:53.592Z,1749103373.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:53.596Z,1749103373.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 46.881268 m,
bearing: 282.302327 deg,
approach rate: -0.659018 m/s,
LOS rate: -0.033955 deg/s,
cmd heading: 285.708725 deg,
new cmd heading: 285.660684 deg.
2025-06-05T06:02:53.597Z,1749103373.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.985720 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:53.720Z,1749103373.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502460
2025-06-05T06:02:53.975Z,1749103373.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757439
2025-06-05T06:02:54.084Z,1749103374.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:54.103Z,1749103374.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 46.562378 m,
bearing: 282.275688 deg,
approach rate: -0.647707 m/s,
LOS rate: -0.054478 deg/s,
cmd heading: 285.660696 deg,
new cmd heading: 285.580231 deg.
2025-06-05T06:02:54.104Z,1749103374.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.984315 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:54.223Z,1749103374.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005977
2025-06-05T06:02:54.451Z,1749103374.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:54.453Z,1749103374.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 46.323803 m,
bearing: 282.255553 deg,
approach rate: -0.650033 m/s,
LOS rate: -0.055142 deg/s,
cmd heading: 285.580236 deg,
new cmd heading: 285.519521 deg.
2025-06-05T06:02:54.455Z,1749103374.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.983256 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:54.476Z,1749103374.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259363
2025-06-05T06:02:54.540Z,1749103374.540 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:02:54.728Z,1749103374.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510508
2025-06-05T06:02:54.854Z,1749103374.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:54.857Z,1749103374.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 46.060997 m,
bearing: 282.233397 deg,
approach rate: -0.651372 m/s,
LOS rate: -0.055228 deg/s,
cmd heading: 285.519529 deg,
new cmd heading: 285.452682 deg.
2025-06-05T06:02:54.859Z,1749103374.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.982089 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:54.981Z,1749103374.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763628
2025-06-05T06:02:55.231Z,1749103375.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014098
2025-06-05T06:02:55.309Z,1749103375.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:55.312Z,1749103375.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:55.315Z,1749103375.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 45.762806 m,
bearing: 282.213022 deg,
approach rate: -0.651433 m/s,
LOS rate: -0.044801 deg/s,
cmd heading: 285.452675 deg,
new cmd heading: 285.391153 deg.
2025-06-05T06:02:55.316Z,1749103375.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.981015 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:55.484Z,1749103375.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266454
2025-06-05T06:02:55.543Z,1749103375.543 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:02:55.664Z,1749103375.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:55.667Z,1749103375.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 45.527405 m,
bearing: 282.196705 deg,
approach rate: -0.668653 m/s,
LOS rate: -0.046589 deg/s,
cmd heading: 285.391149 deg,
new cmd heading: 285.341944 deg.
2025-06-05T06:02:55.668Z,1749103375.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.980156 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:55.736Z,1749103375.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519133
2025-06-05T06:02:55.991Z,1749103375.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773490
2025-06-05T06:02:56.140Z,1749103376.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:56.147Z,1749103376.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 45.219498 m,
bearing: 282.173194 deg,
approach rate: -0.647329 m/s,
LOS rate: -0.049765 deg/s,
cmd heading: 285.341944 deg,
new cmd heading: 285.270931 deg.
2025-06-05T06:02:56.148Z,1749103376.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.978917 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:56.240Z,1749103376.240 [DAT](INFO): DAT read: Rx Time:06:02:54.8372
2025-06-05T06:02:56.241Z,1749103376.241 [DAT](INFO): Rx dataTimestamp_ set to:1749103376.240463
2025-06-05T06:02:56.243Z,1749103376.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024674
2025-06-05T06:02:56.492Z,1749103376.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275034
2025-06-05T06:02:56.494Z,1749103376.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.51 m.
2025-06-05T06:02:56.503Z,1749103376.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.505726 m,
nav range: 44.991272 m,
bearing: 282.155514 deg,
approach rate: -0.691017 m/s,
LOS rate: -0.053800 deg/s,
cmd heading: 285.270938 deg,
new cmd heading: 285.217631 deg.
2025-06-05T06:02:56.504Z,1749103376.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.977987 target range: 62.505726 and range: 63.00 m.
2025-06-05T06:02:56.750Z,1749103376.750 [DAT](INFO): DAT read: 06:02:54.8372 LVL= 30192, 32289, 26722, 29427, AGC= 66, IDX= 146,-0.23,-1.258,-2.780,-1.222,-1.525, PHS= 0.355,-1.209, 0.300, RAW= 148.2, 7.3, CAL= 149.6, -1.4, ROT= 0.4, 1.4
2025-06-05T06:02:56.752Z,1749103376.752 [DAT](INFO): got valid direction response:
06:02:54.8372 LVL= 30192, 32289, 26722, 29427, AGC= 66, IDX= 146,-0.23,-1.258,-2.780,-1.222,-1.525, PHS= 0.355,-1.209, 0.300, RAW= 148.2, 7.3, CAL= 149.6, -1.4, ROT= 0.4, 1.4
2025-06-05T06:02:56.753Z,1749103376.753 [DAT](INFO): DAT read: Bearing 0.4, 1.4 (Local)
2025-06-05T06:02:56.754Z,1749103376.754 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.4, 1.4 (Local)
2025-06-05T06:02:56.756Z,1749103376.756 [DAT](INFO): DAT read: Range 10 to 50 : 46.1 m (Round-trip 61.5 ms) speed 0.5 m/s
2025-06-05T06:02:56.757Z,1749103376.757 [DAT](INFO): DAT read: user:630>
2025-06-05T06:02:56.760Z,1749103376.760 [DAT](INFO): DAT read: Tx time:06:02:55.9215
2025-06-05T06:02:56.760Z,1749103376.760 [DAT](INFO): Ping request sent.
2025-06-05T06:02:56.760Z,1749103376.760 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:02:56.761Z,1749103376.761 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:02:56.763Z,1749103376.763 [DAT](INFO): direction in FSK: [0.999677,0.006979,-0.024432]
2025-06-05T06:02:56.763Z,1749103376.763 [DAT](INFO): publishing transmit ping time
2025-06-05T06:02:56.763Z,1749103376.763 [DAT](INFO): publishing direction and range info
2025-06-05T06:02:56.766Z,1749103376.766 [DAT](INFO): publishing transmit ping time
2025-06-05T06:02:56.766Z,1749103376.766 [DAT](INFO): publishing direction and range info
2025-06-05T06:02:56.931Z,1749103376.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 46.099998 m,
deltaT: 25.452263 s,
deltaX: -16.900002 m,
approachRate: -0.663988 m/s,
rangeRepo size: 4
2025-06-05T06:02:56.940Z,1749103376.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.739342 m,
bearing: 284.698722 deg,
lat: 36.906139 deg,
lon: -122.116045 deg,
deltaT: 25.452263 s,
deltaX: -16.766384 m,
approachRate: -0.658738 m/s,
posRepo size: 4
2025-06-05T06:02:56.947Z,1749103376.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.74 m.
2025-06-05T06:02:56.948Z,1749103376.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.10 m.
2025-06-05T06:02:56.956Z,1749103376.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.739342 m,
nav range: 45.233345 m,
bearing: 284.866925 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.053800 deg/s,
cmd heading: 285.217635 deg,
new cmd heading: 285.144361 deg.
2025-06-05T06:02:56.957Z,1749103376.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.976708 target range: 45.739342 and range: 46.10 m.
2025-06-05T06:02:56.999Z,1749103376.999 [DAT](INFO): DAT read: TxSync time:06:02:55.9208
2025-06-05T06:02:57.018Z,1749103377.018 [DockingStepper](INFO): Changing to mode: 2
2025-06-05T06:02:57.019Z,1749103377.019 [DockingStepper](INFO): Armed mode.
2025-06-05T06:02:57.086Z,1749103377.086 [DockingStepper](INFO): Commanding negative:54494
2025-06-05T06:02:57.390Z,1749103377.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:57.396Z,1749103377.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.74 m.
2025-06-05T06:02:57.397Z,1749103377.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.10 m.
2025-06-05T06:02:57.404Z,1749103377.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.739342 m,
nav range: 44.883621 m,
bearing: 284.867188 deg,
approach rate: -0.740092 m/s,
LOS rate: 0.000559 deg/s,
cmd heading: 285.144361 deg,
new cmd heading: 285.145153 deg.
2025-06-05T06:02:57.405Z,1749103377.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.976722 target range: 45.739342 and range: 46.10 m.
2025-06-05T06:02:57.504Z,1749103377.504 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:02:57.504Z,1749103377.504 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:02:57.504Z,1749103377.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:02:57.728Z,1749103377.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.74 m.
2025-06-05T06:02:57.728Z,1749103377.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.10 m.
2025-06-05T06:02:57.747Z,1749103377.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.739342 m,
nav range: 44.654015 m,
bearing: 284.867772 deg,
approach rate: -0.693309 m/s,
LOS rate: 0.001773 deg/s,
cmd heading: 285.145153 deg,
new cmd heading: 285.146914 deg.
2025-06-05T06:02:57.748Z,1749103377.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.976752 target range: 45.739342 and range: 46.10 m.
2025-06-05T06:02:57.757Z,1749103377.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996451
2025-06-05T06:02:58.007Z,1749103378.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246952
2025-06-05T06:02:58.248Z,1749103378.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.74 m.
2025-06-05T06:02:58.249Z,1749103378.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.10 m.
2025-06-05T06:02:58.260Z,1749103378.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499489
2025-06-05T06:02:58.280Z,1749103378.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.739342 m,
nav range: 44.297562 m,
bearing: 284.873947 deg,
approach rate: -0.684921 m/s,
LOS rate: 0.011962 deg/s,
cmd heading: 285.146901 deg,
new cmd heading: 285.165577 deg.
2025-06-05T06:02:58.281Z,1749103378.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.977078 target range: 45.739342 and range: 46.10 m.
2025-06-05T06:02:58.512Z,1749103378.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751309
2025-06-05T06:02:58.760Z,1749103378.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.74 m.
2025-06-05T06:02:58.764Z,1749103378.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003228
2025-06-05T06:02:58.769Z,1749103378.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.10 m.
2025-06-05T06:02:58.773Z,1749103378.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.739342 m,
nav range: 43.969391 m,
bearing: 284.880162 deg,
approach rate: -0.661679 m/s,
LOS rate: 0.012624 deg/s,
cmd heading: 285.165589 deg,
new cmd heading: 285.184372 deg.
2025-06-05T06:02:58.779Z,1749103378.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.977407 target range: 45.739342 and range: 46.10 m.
2025-06-05T06:02:59.015Z,1749103379.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255125
2025-06-05T06:02:59.235Z,1749103379.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.74 m.
2025-06-05T06:02:59.236Z,1749103379.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.10 m.
2025-06-05T06:02:59.239Z,1749103379.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.739342 m,
nav range: 43.621777 m,
bearing: 284.902939 deg,
approach rate: -0.707917 m/s,
LOS rate: 0.046756 deg/s,
cmd heading: 285.184385 deg,
new cmd heading: 285.253263 deg.
2025-06-05T06:02:59.240Z,1749103379.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.978609 target range: 45.739342 and range: 46.10 m.
2025-06-05T06:02:59.267Z,1749103379.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506707
2025-06-05T06:02:59.520Z,1749103379.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759402
2025-06-05T06:02:59.604Z,1749103379.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:02:59.606Z,1749103379.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.74 m.
2025-06-05T06:02:59.607Z,1749103379.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.10 m.
2025-06-05T06:02:59.611Z,1749103379.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.739342 m,
nav range: 43.366089 m,
bearing: 284.919768 deg,
approach rate: -0.689339 m/s,
LOS rate: 0.045639 deg/s,
cmd heading: 285.253261 deg,
new cmd heading: 285.304046 deg.
2025-06-05T06:02:59.612Z,1749103379.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.979495 target range: 45.739342 and range: 46.10 m.
2025-06-05T06:02:59.771Z,1749103379.771 [DAT](INFO): DAT read: Rx Time:06:02:58.3838
2025-06-05T06:02:59.772Z,1749103379.772 [DAT](INFO): Rx dataTimestamp_ set to:1749103379.771329
2025-06-05T06:02:59.772Z,1749103379.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011827
2025-06-05T06:03:00.015Z,1749103380.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.74 m.
2025-06-05T06:03:00.016Z,1749103380.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 46.10 m.
2025-06-05T06:03:00.021Z,1749103380.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.739342 m,
nav range: 43.085228 m,
bearing: 284.938485 deg,
approach rate: -0.686191 m/s,
LOS rate: 0.046026 deg/s,
cmd heading: 285.304050 deg,
new cmd heading: 285.360566 deg.
2025-06-05T06:03:00.024Z,1749103380.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263252
2025-06-05T06:03:00.027Z,1749103380.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.980482 target range: 45.739342 and range: 46.10 m.
2025-06-05T06:03:00.295Z,1749103380.295 [DAT](INFO): DAT read: 06:02:58.3838 LVL= 16944, 29681, 15090, 29283, AGC= 66, IDX= 399, 0.47, 1.078,-0.360, 0.961, 0.744, PHS= 0.422,-1.056, 0.215, RAW= 142.5, 6.1, CAL= 145.6, -2.0, ROT= 4.4, 2.0
2025-06-05T06:03:00.296Z,1749103380.296 [DAT](INFO): got valid direction response:
06:02:58.3838 LVL= 16944, 29681, 15090, 29283, AGC= 66, IDX= 399, 0.47, 1.078,-0.360, 0.961, 0.744, PHS= 0.422,-1.056, 0.215, RAW= 142.5, 6.1, CAL= 145.6, -2.0, ROT= 4.4, 2.0
2025-06-05T06:03:00.297Z,1749103380.297 [DAT](INFO): DAT read: Bearing 4.4, 2.0 (Local)
2025-06-05T06:03:00.297Z,1749103380.297 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.4, 2.0 (Local)
2025-06-05T06:03:00.299Z,1749103380.299 [DAT](INFO): DAT read: Range 10 to 50 : 43.6 m (Round-trip 58.2 ms) speed 0.7 m/s
2025-06-05T06:03:00.300Z,1749103380.300 [DAT](INFO): DAT read: user:631>
2025-06-05T06:03:00.300Z,1749103380.300 [DAT](INFO): DAT read: Tx time:06:02:59.4715
2025-06-05T06:03:00.301Z,1749103380.301 [DAT](INFO): Ping request sent.
2025-06-05T06:03:00.301Z,1749103380.301 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:00.301Z,1749103380.301 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:03:00.303Z,1749103380.303 [DAT](INFO): direction in FSK: [0.996445,0.076672,-0.034899]
2025-06-05T06:03:00.304Z,1749103380.304 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:00.305Z,1749103380.305 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:00.349Z,1749103380.349 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:00.349Z,1749103380.349 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:00.528Z,1749103380.528 [DAT](INFO): DAT read: TxSync time:06:02:59.4708
2025-06-05T06:03:00.537Z,1749103380.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.599998 m,
deltaT: 3.531376 s,
deltaX: -2.500000 m,
approachRate: -0.707939 m/s,
rangeRepo size: 4
2025-06-05T06:03:00.544Z,1749103380.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 43.258255 m,
bearing: 288.690030 deg,
lat: 36.906140 deg,
lon: -122.116045 deg,
deltaT: 3.531376 s,
deltaX: -2.481087 m,
approachRate: -0.702584 m/s,
posRepo size: 4
2025-06-05T06:03:00.544Z,1749103380.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.26 m.
2025-06-05T06:03:00.545Z,1749103380.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.60 m.
2025-06-05T06:03:00.556Z,1749103380.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.258255 m,
nav range: 42.757992 m,
bearing: 285.002638 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.046026 deg/s,
cmd heading: 285.360577 deg,
new cmd heading: 285.432467 deg.
2025-06-05T06:03:00.557Z,1749103380.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.981736 target range: 43.258255 and range: 43.60 m.
2025-06-05T06:03:00.863Z,1749103380.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.26 m.
2025-06-05T06:03:00.863Z,1749103380.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.60 m.
2025-06-05T06:03:00.867Z,1749103380.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.258255 m,
nav range: 42.516426 m,
bearing: 285.031945 deg,
approach rate: -0.740452 m/s,
LOS rate: 0.090344 deg/s,
cmd heading: 285.432458 deg,
new cmd heading: 285.520880 deg.
2025-06-05T06:03:00.868Z,1749103380.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.983279 target range: 43.258255 and range: 43.60 m.
2025-06-05T06:03:01.288Z,1749103381.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.26 m.
2025-06-05T06:03:01.288Z,1749103381.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.60 m.
2025-06-05T06:03:01.295Z,1749103381.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.258255 m,
nav range: 42.251209 m,
bearing: 285.074660 deg,
approach rate: -0.623361 m/s,
LOS rate: 0.101027 deg/s,
cmd heading: 285.520868 deg,
new cmd heading: 285.649818 deg.
2025-06-05T06:03:01.296Z,1749103381.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.985530 target range: 43.258255 and range: 43.60 m.
2025-06-05T06:03:01.670Z,1749103381.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:01.672Z,1749103381.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.26 m.
2025-06-05T06:03:01.672Z,1749103381.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.60 m.
2025-06-05T06:03:01.677Z,1749103381.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.258255 m,
nav range: 41.986446 m,
bearing: 285.118202 deg,
approach rate: -0.689047 m/s,
LOS rate: 0.114031 deg/s,
cmd heading: 285.649822 deg,
new cmd heading: 285.781269 deg.
2025-06-05T06:03:01.679Z,1749103381.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.987824 target range: 43.258255 and range: 43.60 m.
2025-06-05T06:03:01.789Z,1749103381.789 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:03:01.789Z,1749103381.789 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:03:01.789Z,1749103381.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:03:02.039Z,1749103382.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738399
2025-06-05T06:03:02.131Z,1749103382.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.26 m.
2025-06-05T06:03:02.133Z,1749103382.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.60 m.
2025-06-05T06:03:02.148Z,1749103382.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.258255 m,
nav range: 41.734184 m,
bearing: 285.160363 deg,
approach rate: -0.556906 m/s,
LOS rate: 0.093640 deg/s,
cmd heading: 285.781262 deg,
new cmd heading: 285.908511 deg.
2025-06-05T06:03:02.149Z,1749103382.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.990045 target range: 43.258255 and range: 43.60 m.
2025-06-05T06:03:02.291Z,1749103382.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990293
2025-06-05T06:03:02.536Z,1749103382.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.26 m.
2025-06-05T06:03:02.537Z,1749103382.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.60 m.
2025-06-05T06:03:02.540Z,1749103382.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.258255 m,
nav range: 41.434429 m,
bearing: 285.218794 deg,
approach rate: -0.728263 m/s,
LOS rate: 0.142985 deg/s,
cmd heading: 285.908522 deg,
new cmd heading: 286.085081 deg.
2025-06-05T06:03:02.541Z,1749103382.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993126 target range: 43.258255 and range: 43.60 m.
2025-06-05T06:03:02.545Z,1749103382.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243840
2025-06-05T06:03:02.795Z,1749103382.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494507
2025-06-05T06:03:02.871Z,1749103382.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.26 m.
2025-06-05T06:03:02.872Z,1749103382.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 43.60 m.
2025-06-05T06:03:02.872Z,1749103382.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 43.60 m.
2025-06-05T06:03:02.872Z,1749103382.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-05T06:03:02.877Z,1749103382.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.258255 m,
nav range: 41.215900 m,
bearing: 285.260500 deg,
approach rate: -0.652726 m/s,
LOS rate: 0.125233 deg/s,
cmd heading: 286.085069 deg,
new cmd heading: 286.210851 deg.
2025-06-05T06:03:02.879Z,1749103382.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995322 target range: 43.258255 and range: 43.60 m.
2025-06-05T06:03:03.049Z,1749103383.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748156
2025-06-05T06:03:03.299Z,1749103383.299 [DAT](INFO): DAT read: Rx Time:06:03:01.9310
2025-06-05T06:03:03.300Z,1749103383.300 [DAT](INFO): Rx dataTimestamp_ set to:1749103383.299647
2025-06-05T06:03:03.300Z,1749103383.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999769
2025-06-05T06:03:03.304Z,1749103383.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.26 m.
2025-06-05T06:03:03.307Z,1749103383.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.258255 m,
nav range: 40.950844 m,
bearing: 285.307339 deg,
approach rate: -0.613036 m/s,
LOS rate: 0.109034 deg/s,
cmd heading: 286.210854 deg,
new cmd heading: 286.352281 deg.
2025-06-05T06:03:03.308Z,1749103383.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997790 target range: 43.258255 and range: 43.60 m.
2025-06-05T06:03:03.575Z,1749103383.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253179
2025-06-05T06:03:03.810Z,1749103383.810 [DAT](INFO): DAT read: 06:03:01.9310 LVL= 20944, 26513, 17698, 29459, AGC= 67, IDX= 417, 0.28,-0.204,-1.608,-0.217,-0.536, PHS= 0.420,-1.025, 0.316, RAW= 146.3, 4.2, CAL= 148.9, -4.5, ROT= 1.1, 4.5
2025-06-05T06:03:03.812Z,1749103383.812 [DAT](INFO): got valid direction response:
06:03:01.9310 LVL= 20944, 26513, 17698, 29459, AGC= 67, IDX= 417, 0.28,-0.204,-1.608,-0.217,-0.536, PHS= 0.420,-1.025, 0.316, RAW= 146.3, 4.2, CAL= 148.9, -4.5, ROT= 1.1, 4.5
2025-06-05T06:03:03.812Z,1749103383.812 [DAT](INFO): DAT read: Bearing 1.1, 4.5 (Local)
2025-06-05T06:03:03.813Z,1749103383.813 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.1, 4.5 (Local)
2025-06-05T06:03:03.814Z,1749103383.814 [DAT](INFO): DAT read: Range 10 to 50 : 41.4 m (Round-trip 55.2 ms) speed 0.5 m/s
2025-06-05T06:03:03.815Z,1749103383.815 [DAT](INFO): DAT read: user:632>
2025-06-05T06:03:03.816Z,1749103383.816 [DAT](INFO): DAT read: Tx time:06:03:03.0216
2025-06-05T06:03:03.816Z,1749103383.816 [DAT](INFO): Ping request sent.
2025-06-05T06:03:03.816Z,1749103383.816 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:03.816Z,1749103383.816 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:03:03.817Z,1749103383.817 [DAT](INFO): direction in FSK: [0.996734,0.019138,-0.078459]
2025-06-05T06:03:03.817Z,1749103383.817 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:03.818Z,1749103383.818 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:03.830Z,1749103383.830 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:03.831Z,1749103383.831 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:03.928Z,1749103383.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.400002 m,
deltaT: 3.527213 s,
deltaX: -2.199997 m,
approachRate: -0.623721 m/s,
rangeRepo size: 4
2025-06-05T06:03:03.934Z,1749103383.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.075382 m,
bearing: 285.937096 deg,
lat: 36.906142 deg,
lon: -122.116049 deg,
deltaT: 3.527213 s,
deltaX: -2.182873 m,
approachRate: -0.618866 m/s,
posRepo size: 4
2025-06-05T06:03:03.935Z,1749103383.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.08 m.
2025-06-05T06:03:03.938Z,1749103383.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.075382 m,
nav range: 41.014412 m,
bearing: 285.647955 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.109034 deg/s,
cmd heading: 286.352293 deg,
new cmd heading: 286.556166 deg.
2025-06-05T06:03:03.945Z,1749103383.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001348 target range: 41.075382 and range: 41.40 m.
2025-06-05T06:03:04.056Z,1749103384.056 [DAT](INFO): DAT read: TxSync time:06:03:03.0208
2025-06-05T06:03:04.345Z,1749103384.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:04.351Z,1749103384.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.08 m.
2025-06-05T06:03:04.356Z,1749103384.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.075382 m,
nav range: 40.754574 m,
bearing: 285.680692 deg,
approach rate: -0.612480 m/s,
LOS rate: 0.077659 deg/s,
cmd heading: 286.556161 deg,
new cmd heading: 286.654998 deg.
2025-06-05T06:03:04.357Z,1749103384.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003074 target range: 41.075382 and range: 41.40 m.
2025-06-05T06:03:04.560Z,1749103384.560 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:03:04.560Z,1749103384.560 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:03:04.561Z,1749103384.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:03:04.672Z,1749103384.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.08 m.
2025-06-05T06:03:04.676Z,1749103384.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.075382 m,
nav range: 40.547512 m,
bearing: 285.706166 deg,
approach rate: -0.646057 m/s,
LOS rate: 0.079890 deg/s,
cmd heading: 286.655007 deg,
new cmd heading: 286.731821 deg.
2025-06-05T06:03:04.677Z,1749103384.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.004415 target range: 41.075382 and range: 41.40 m.
2025-06-05T06:03:04.814Z,1749103384.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997614
2025-06-05T06:03:05.063Z,1749103385.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246957
2025-06-05T06:03:05.121Z,1749103385.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.08 m.
2025-06-05T06:03:05.128Z,1749103385.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.075382 m,
nav range: 40.283859 m,
bearing: 285.738119 deg,
approach rate: -0.587280 m/s,
LOS rate: 0.071640 deg/s,
cmd heading: 286.731833 deg,
new cmd heading: 286.828319 deg.
2025-06-05T06:03:05.129Z,1749103385.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.006099 target range: 41.075382 and range: 41.40 m.
2025-06-05T06:03:05.315Z,1749103385.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498973
2025-06-05T06:03:05.512Z,1749103385.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.08 m.
2025-06-05T06:03:05.517Z,1749103385.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.075382 m,
nav range: 40.037868 m,
bearing: 285.751675 deg,
approach rate: -0.629479 m/s,
LOS rate: 0.034901 deg/s,
cmd heading: 286.828330 deg,
new cmd heading: 286.869246 deg.
2025-06-05T06:03:05.519Z,1749103385.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.006813 target range: 41.075382 and range: 41.40 m.
2025-06-05T06:03:05.567Z,1749103385.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751124
2025-06-05T06:03:05.819Z,1749103385.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003102
2025-06-05T06:03:05.871Z,1749103385.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.08 m.
2025-06-05T06:03:05.875Z,1749103385.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.075382 m,
nav range: 39.811462 m,
bearing: 285.762755 deg,
approach rate: -0.628883 m/s,
LOS rate: 0.030952 deg/s,
cmd heading: 286.869257 deg,
new cmd heading: 286.902686 deg.
2025-06-05T06:03:05.877Z,1749103385.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.007397 target range: 41.075382 and range: 41.40 m.
2025-06-05T06:03:06.071Z,1749103386.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254997
2025-06-05T06:03:06.323Z,1749103386.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506972
2025-06-05T06:03:06.416Z,1749103386.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:06.418Z,1749103386.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.08 m.
2025-06-05T06:03:06.421Z,1749103386.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.075382 m,
nav range: 39.466850 m,
bearing: 285.759820 deg,
approach rate: -0.630705 m/s,
LOS rate: -0.005418 deg/s,
cmd heading: 286.902697 deg,
new cmd heading: 286.893816 deg.
2025-06-05T06:03:06.422Z,1749103386.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.007242 target range: 41.075382 and range: 41.40 m.
2025-06-05T06:03:06.577Z,1749103386.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760190
2025-06-05T06:03:06.737Z,1749103386.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.08 m.
2025-06-05T06:03:06.740Z,1749103386.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.075382 m,
nav range: 39.263420 m,
bearing: 285.756876 deg,
approach rate: -0.637283 m/s,
LOS rate: -0.009271 deg/s,
cmd heading: 286.893818 deg,
new cmd heading: 286.884939 deg.
2025-06-05T06:03:06.741Z,1749103386.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.007087 target range: 41.075382 and range: 41.40 m.
2025-06-05T06:03:06.828Z,1749103386.828 [DAT](INFO): DAT read: Rx Time:06:03:05.4781
2025-06-05T06:03:06.828Z,1749103386.828 [DAT](INFO): Rx dataTimestamp_ set to:1749103386.828144
2025-06-05T06:03:06.829Z,1749103386.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012954
2025-06-05T06:03:07.081Z,1749103387.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265020
2025-06-05T06:03:07.157Z,1749103387.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.08 m.
2025-06-05T06:03:07.160Z,1749103387.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 41.075382 m,
nav range: 39.003292 m,
bearing: 285.751701 deg,
approach rate: -0.619232 m/s,
LOS rate: -0.012400 deg/s,
cmd heading: 286.884939 deg,
new cmd heading: 286.869312 deg.
2025-06-05T06:03:07.161Z,1749103387.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.006814 target range: 41.075382 and range: 41.40 m.
2025-06-05T06:03:07.337Z,1749103387.337 [DAT](INFO): DAT read: 06:03:05.4781 LVL= 20016, 25937, 17522, 27475, AGC= 62, IDX= 404,-0.36,-2.512, 2.369,-2.267,-2.841, PHS= 0.417,-1.025, 0.571, RAW= 155.0, 0.5, CAL= 157.6, -8.3, ROT= 352.4, 8.3
2025-06-05T06:03:07.340Z,1749103387.340 [DAT](INFO): got valid direction response:
06:03:05.4781 LVL= 20016, 25937, 17522, 27475, AGC= 62, IDX= 404,-0.36,-2.512, 2.369,-2.267,-2.841, PHS= 0.417,-1.025, 0.571, RAW= 155.0, 0.5, CAL= 157.6, -8.3, ROT= 352.4, 8.3
2025-06-05T06:03:07.341Z,1749103387.341 [DAT](INFO): DAT read: Bearing 352.4, 8.3 (Local)
2025-06-05T06:03:07.342Z,1749103387.342 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.4, 8.3 (Local)
2025-06-05T06:03:07.345Z,1749103387.345 [DAT](INFO): DAT read: Range 10 to 50 : 39.2 m (Round-trip 52.3 ms) speed 0.7 m/s
2025-06-05T06:03:07.345Z,1749103387.345 [DAT](INFO): DAT read: user:633>
2025-06-05T06:03:07.351Z,1749103387.351 [DAT](INFO): DAT read: Tx time:06:03:06.5716
2025-06-05T06:03:07.352Z,1749103387.352 [DAT](INFO): Ping request sent.
2025-06-05T06:03:07.352Z,1749103387.352 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:07.352Z,1749103387.352 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:03:07.353Z,1749103387.353 [DAT](INFO): direction in FSK: [0.980833,-0.130871,-0.144356]
2025-06-05T06:03:07.353Z,1749103387.353 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:07.355Z,1749103387.355 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:07.363Z,1749103387.363 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:07.363Z,1749103387.363 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:07.583Z,1749103387.583 [DAT](INFO): DAT read: TxSync time:06:03:06.5708
2025-06-05T06:03:07.612Z,1749103387.612 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -0.74, , -0.05, 12.60, 0.00
2025-06-05T06:03:07.666Z,1749103387.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.200001 m,
deltaT: 3.528091 s,
deltaX: -2.200001 m,
approachRate: -0.623567 m/s,
rangeRepo size: 4
2025-06-05T06:03:07.673Z,1749103387.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.892124 m,
bearing: 279.698423 deg,
lat: 36.906142 deg,
lon: -122.116050 deg,
deltaT: 3.528091 s,
deltaX: -2.183258 m,
approachRate: -0.618821 m/s,
posRepo size: 4
2025-06-05T06:03:07.673Z,1749103387.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m.
2025-06-05T06:03:07.680Z,1749103387.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.892124 m,
nav range: 38.761200 m,
bearing: 285.715580 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.012400 deg/s,
cmd heading: 286.869311 deg,
new cmd heading: 286.850417 deg.
2025-06-05T06:03:07.681Z,1749103387.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.006484 target range: 38.892124 and range: 39.20 m.
2025-06-05T06:03:07.934Z,1749103387.934 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-05T06:03:07.934Z,1749103387.934 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T06:03:07.935Z,1749103387.935 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-05T06:03:07.936Z,1749103387.936 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.200001 m (mode 2.000000 count ).
2025-06-05T06:03:07.936Z,1749103387.936 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-05T06:03:07.936Z,1749103387.936 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-05T06:03:07.939Z,1749103387.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m.
2025-06-05T06:03:07.944Z,1749103387.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.892124 m,
nav range: 38.576122 m,
bearing: 285.710113 deg,
approach rate: -0.675982 m/s,
LOS rate: -0.020066 deg/s,
cmd heading: 286.850405 deg,
new cmd heading: 286.833924 deg.
2025-06-05T06:03:07.945Z,1749103387.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.006196 target range: 38.892124 and range: 39.20 m.
2025-06-05T06:03:08.401Z,1749103388.401 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-05T06:03:08.401Z,1749103388.401 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-05T06:03:08.407Z,1749103388.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m.
2025-06-05T06:03:08.416Z,1749103388.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.892124 m,
nav range: 38.289734 m,
bearing: 285.672138 deg,
approach rate: -0.611327 m/s,
LOS rate: -0.081668 deg/s,
cmd heading: 286.833931 deg,
new cmd heading: 286.719154 deg.
2025-06-05T06:03:08.417Z,1749103388.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.004193 target range: 38.892124 and range: 39.20 m.
2025-06-05T06:03:08.745Z,1749103388.745 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-05T06:03:08.745Z,1749103388.745 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-05T06:03:08.745Z,1749103388.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:08.748Z,1749103388.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m.
2025-06-05T06:03:08.755Z,1749103388.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.892124 m,
nav range: 38.054871 m,
bearing: 285.639113 deg,
approach rate: -0.689610 m/s,
LOS rate: -0.097566 deg/s,
cmd heading: 286.719156 deg,
new cmd heading: 286.619471 deg.
2025-06-05T06:03:08.767Z,1749103388.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002453 target range: 38.892124 and range: 39.20 m.
2025-06-05T06:03:08.844Z,1749103388.844 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:03:08.844Z,1749103388.844 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:03:08.845Z,1749103388.845 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:03:09.097Z,1749103389.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745473
2025-06-05T06:03:09.145Z,1749103389.145 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-05T06:03:09.146Z,1749103389.146 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T06:03:09.146Z,1749103389.146 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-05T06:03:09.146Z,1749103389.146 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T06:03:09.151Z,1749103389.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m.
2025-06-05T06:03:09.171Z,1749103389.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.892124 m,
nav range: 37.796818 m,
bearing: 285.601849 deg,
approach rate: -0.639606 m/s,
LOS rate: -0.092993 deg/s,
cmd heading: 286.619463 deg,
new cmd heading: 286.506908 deg.
2025-06-05T06:03:09.180Z,1749103389.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.000489 target range: 38.892124 and range: 39.20 m.
2025-06-05T06:03:09.349Z,1749103389.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996935
2025-06-05T06:03:09.600Z,1749103389.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247964
2025-06-05T06:03:09.606Z,1749103389.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m.
2025-06-05T06:03:09.611Z,1749103389.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.892124 m,
nav range: 37.510349 m,
bearing: 285.542957 deg,
approach rate: -0.630054 m/s,
LOS rate: -0.130514 deg/s,
cmd heading: 286.506901 deg,
new cmd heading: 286.328878 deg.
2025-06-05T06:03:09.612Z,1749103389.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997382 target range: 38.892124 and range: 39.20 m.
2025-06-05T06:03:09.851Z,1749103389.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499425
2025-06-05T06:03:09.964Z,1749103389.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m.
2025-06-05T06:03:09.967Z,1749103389.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.892124 m,
nav range: 37.279568 m,
bearing: 285.493873 deg,
approach rate: -0.644931 m/s,
LOS rate: -0.138018 deg/s,
cmd heading: 286.328879 deg,
new cmd heading: 286.180715 deg.
2025-06-05T06:03:09.968Z,1749103389.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994796 target range: 38.892124 and range: 39.20 m.
2025-06-05T06:03:10.103Z,1749103390.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751452
2025-06-05T06:03:10.355Z,1749103390.355 [DAT](INFO): DAT read: Rx Time:06:03:09.0249
2025-06-05T06:03:10.356Z,1749103390.356 [DAT](INFO): Rx dataTimestamp_ set to:1749103390.355289
2025-06-05T06:03:10.356Z,1749103390.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004436
2025-06-05T06:03:10.433Z,1749103390.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m.
2025-06-05T06:03:10.440Z,1749103390.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.892124 m,
nav range: 36.985916 m,
bearing: 285.439832 deg,
approach rate: -0.625236 m/s,
LOS rate: -0.115976 deg/s,
cmd heading: 286.180719 deg,
new cmd heading: 286.017310 deg.
2025-06-05T06:03:10.467Z,1749103390.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.991944 target range: 38.892124 and range: 39.20 m.
2025-06-05T06:03:10.607Z,1749103390.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255819
2025-06-05T06:03:10.838Z,1749103390.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:10.841Z,1749103390.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m.
2025-06-05T06:03:10.845Z,1749103390.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.892124 m,
nav range: 36.722878 m,
bearing: 285.390045 deg,
approach rate: -0.646114 m/s,
LOS rate: -0.123172 deg/s,
cmd heading: 286.017313 deg,
new cmd heading: 285.866881 deg.
2025-06-05T06:03:10.847Z,1749103390.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989318 target range: 38.892124 and range: 39.20 m.
2025-06-05T06:03:10.866Z,1749103390.866 [DAT](INFO): DAT read: 06:03:09.0249 LVL= 21632, 24161, 17858, 27411, AGC= 64, IDX= 403,-0.04, 1.197,-0.200, 1.451, 0.905, PHS= 0.380,-1.058, 0.543, RAW= 155.3, 1.8, CAL= 157.4, -7.1, ROT= 352.6, 7.1
2025-06-05T06:03:10.868Z,1749103390.868 [DAT](INFO): got valid direction response:
06:03:09.0249 LVL= 21632, 24161, 17858, 27411, AGC= 64, IDX= 403,-0.04, 1.197,-0.200, 1.451, 0.905, PHS= 0.380,-1.058, 0.543, RAW= 155.3, 1.8, CAL= 157.4, -7.1, ROT= 352.6, 7.1
2025-06-05T06:03:10.868Z,1749103390.868 [DAT](INFO): DAT read: Bearing 352.6, 7.1 (Local)
2025-06-05T06:03:10.869Z,1749103390.869 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.6, 7.1 (Local)
2025-06-05T06:03:10.874Z,1749103390.874 [DAT](INFO): DAT read: Range 10 to 50 : 36.8 m (Round-trip 49.1 ms) speed 0.7 m/s
2025-06-05T06:03:10.877Z,1749103390.877 [DAT](INFO): DAT read: user:634>
2025-06-05T06:03:10.878Z,1749103390.878 [DAT](INFO): DAT read: Tx time:06:03:10.1216
2025-06-05T06:03:10.878Z,1749103390.878 [DAT](INFO): Ping request sent.
2025-06-05T06:03:10.878Z,1749103390.878 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:10.879Z,1749103390.879 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:03:10.880Z,1749103390.880 [DAT](INFO): direction in FSK: [0.984067,-0.127808,-0.123601]
2025-06-05T06:03:10.880Z,1749103390.880 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:10.880Z,1749103390.880 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:10.884Z,1749103390.884 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:10.884Z,1749103390.884 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:10.887Z,1749103390.887 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.009177
2025-06-05T06:03:11.111Z,1749103391.111 [DAT](INFO): DAT read: TxSync time:06:03:10.1208
2025-06-05T06:03:11.112Z,1749103391.112 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.233804
2025-06-05T06:03:11.315Z,1749103391.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.799999 m,
deltaT: 3.528855 s,
deltaX: -2.400002 m,
approachRate: -0.680108 m/s,
rangeRepo size: 4
2025-06-05T06:03:11.317Z,1749103391.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.511024 m,
bearing: 280.511683 deg,
lat: 36.906139 deg,
lon: -122.116051 deg,
deltaT: 3.528855 s,
deltaX: -2.381100 m,
approachRate: -0.674751 m/s,
posRepo size: 4
2025-06-05T06:03:11.317Z,1749103391.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.51 m.
2025-06-05T06:03:11.324Z,1749103391.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.511024 m,
nav range: 36.468098 m,
bearing: 284.820201 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.123172 deg/s,
cmd heading: 285.866885 deg,
new cmd heading: 285.694106 deg.
2025-06-05T06:03:11.331Z,1749103391.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.986303 target range: 36.511024 and range: 36.80 m.
2025-06-05T06:03:11.363Z,1749103391.363 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.484841
2025-06-05T06:03:11.615Z,1749103391.615 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.736753
2025-06-05T06:03:11.700Z,1749103391.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.51 m.
2025-06-05T06:03:11.703Z,1749103391.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.511024 m,
nav range: 36.173664 m,
bearing: 284.768478 deg,
approach rate: -0.751110 m/s,
LOS rate: -0.133022 deg/s,
cmd heading: 285.694109 deg,
new cmd heading: 285.537676 deg.
2025-06-05T06:03:11.704Z,1749103391.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.983572 target range: 36.511024 and range: 36.80 m.
2025-06-05T06:03:11.867Z,1749103391.867 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.989012
2025-06-05T06:03:12.028Z,1749103392.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.51 m.
2025-06-05T06:03:12.031Z,1749103392.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.511024 m,
nav range: 35.967701 m,
bearing: 284.731984 deg,
approach rate: -0.627827 m/s,
LOS rate: -0.111879 deg/s,
cmd heading: 285.537670 deg,
new cmd heading: 285.427562 deg.
2025-06-05T06:03:12.032Z,1749103392.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.981651 target range: 36.511024 and range: 36.80 m.
2025-06-05T06:03:12.120Z,1749103392.120 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.241838
2025-06-05T06:03:12.371Z,1749103392.371 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.493101
2025-06-05T06:03:12.462Z,1749103392.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.51 m.
2025-06-05T06:03:12.465Z,1749103392.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.511024 m,
nav range: 35.696339 m,
bearing: 284.709319 deg,
approach rate: -0.625507 m/s,
LOS rate: -0.052643 deg/s,
cmd heading: 285.427568 deg,
new cmd heading: 285.359054 deg.
2025-06-05T06:03:12.468Z,1749103392.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.980455 target range: 36.511024 and range: 36.80 m.
2025-06-05T06:03:12.623Z,1749103392.623 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.744787
2025-06-05T06:03:12.831Z,1749103392.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.51 m.
2025-06-05T06:03:12.835Z,1749103392.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.511024 m,
nav range: 35.466202 m,
bearing: 284.690544 deg,
approach rate: -0.623192 m/s,
LOS rate: -0.051171 deg/s,
cmd heading: 285.359047 deg,
new cmd heading: 285.302357 deg.
2025-06-05T06:03:12.836Z,1749103392.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.979465 target range: 36.511024 and range: 36.80 m.
2025-06-05T06:03:12.877Z,1749103392.877 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.997867
2025-06-05T06:03:13.127Z,1749103393.127 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.248715
2025-06-05T06:03:13.262Z,1749103393.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:13.292Z,1749103393.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.51 m.
2025-06-05T06:03:13.323Z,1749103393.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.511024 m,
nav range: 35.199551 m,
bearing: 284.669413 deg,
approach rate: -0.608032 m/s,
LOS rate: -0.048549 deg/s,
cmd heading: 285.302356 deg,
new cmd heading: 285.238484 deg.
2025-06-05T06:03:13.324Z,1749103393.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.978351 target range: 36.511024 and range: 36.80 m.
2025-06-05T06:03:13.380Z,1749103393.380 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.501602
2025-06-05T06:03:13.631Z,1749103393.631 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.752624
2025-06-05T06:03:13.681Z,1749103393.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.51 m.
2025-06-05T06:03:13.684Z,1749103393.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.511024 m,
nav range: 34.939655 m,
bearing: 284.674408 deg,
approach rate: -0.632700 m/s,
LOS rate: 0.012249 deg/s,
cmd heading: 285.238481 deg,
new cmd heading: 285.253576 deg.
2025-06-05T06:03:13.685Z,1749103393.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.978614 target range: 36.511024 and range: 36.80 m.
2025-06-05T06:03:13.883Z,1749103393.883 [DAT](INFO): DAT read: Rx Time:06:03:12.5718
2025-06-05T06:03:13.884Z,1749103393.884 [DAT](INFO): Rx dataTimestamp_ set to:1749103393.883248
2025-06-05T06:03:13.884Z,1749103393.884 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.005754
2025-06-05T06:03:14.039Z,1749103394.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.51 m.
2025-06-05T06:03:14.059Z,1749103394.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.511024 m,
nav range: 34.716240 m,
bearing: 284.680043 deg,
approach rate: -0.624641 m/s,
LOS rate: 0.015858 deg/s,
cmd heading: 285.253589 deg,
new cmd heading: 285.270605 deg.
2025-06-05T06:03:14.060Z,1749103394.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.978911 target range: 36.511024 and range: 36.80 m.
2025-06-05T06:03:14.136Z,1749103394.136 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.258031
2025-06-05T06:03:14.395Z,1749103394.395 [DAT](INFO): DAT read: 06:03:12.5719 LVL= 24304, 25873, 15714, 26163, AGC= 63, IDX= 404, 0.13, 2.584, 1.128, 2.918, 2.249, PHS= 0.424,-1.074, 0.667, RAW= 157.4, -0.2, CAL= 159.9, -8.9, ROT= 350.1, 8.9
2025-06-05T06:03:14.396Z,1749103394.396 [DAT](INFO): got valid direction response:
06:03:12.5719 LVL= 24304, 25873, 15714, 26163, AGC= 63, IDX= 404, 0.13, 2.584, 1.128, 2.918, 2.249, PHS= 0.424,-1.074, 0.667, RAW= 157.4, -0.2, CAL= 159.9, -8.9, ROT= 350.1, 8.9
2025-06-05T06:03:14.397Z,1749103394.397 [DAT](INFO): DAT read: Bearing 350.1, 8.9 (Local)
2025-06-05T06:03:14.397Z,1749103394.397 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.1, 8.9 (Local)
2025-06-05T06:03:14.398Z,1749103394.398 [DAT](INFO): DAT read: Range 10 to 50 : 34.5 m (Round-trip 46.0 ms) speed 0.5 m/s
2025-06-05T06:03:14.399Z,1749103394.399 [DAT](INFO): DAT read: user:635>
2025-06-05T06:03:14.400Z,1749103394.400 [DAT](INFO): DAT read: Tx time:06:03:13.6717
2025-06-05T06:03:14.400Z,1749103394.400 [DAT](INFO): Ping request sent.
2025-06-05T06:03:14.400Z,1749103394.400 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:14.400Z,1749103394.400 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-05T06:03:14.401Z,1749103394.401 [DAT](INFO): direction in FSK: [0.973248,-0.169859,-0.154710]
2025-06-05T06:03:14.402Z,1749103394.402 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:14.402Z,1749103394.402 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:14.405Z,1749103394.405 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:14.405Z,1749103394.405 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:14.447Z,1749103394.447 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.046613
2025-06-05T06:03:14.616Z,1749103394.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.500000 m,
deltaT: 3.527014 s,
deltaX: -2.299999 m,
approachRate: -0.652109 m/s,
rangeRepo size: 4
2025-06-05T06:03:14.618Z,1749103394.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.228485 m,
bearing: 277.680378 deg,
lat: 36.906115 deg,
lon: -122.116058 deg,
deltaT: 3.527014 s,
deltaX: -2.282539 m,
approachRate: -0.647159 m/s,
posRepo size: 4
2025-06-05T06:03:14.623Z,1749103394.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.23 m.
2025-06-05T06:03:14.631Z,1749103394.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.228485 m,
nav range: 34.414181 m,
bearing: 280.156687 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.015858 deg/s,
cmd heading: 285.270610 deg,
new cmd heading: 285.297822 deg.
2025-06-05T06:03:14.632Z,1749103394.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.979386 target range: 34.228485 and range: 34.50 m.
2025-06-05T06:03:14.640Z,1749103394.640 [DAT](INFO): DAT read: TxSync time:06:03:13.6709
2025-06-05T06:03:14.640Z,1749103394.640 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.240193
2025-06-05T06:03:14.893Z,1749103394.893 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.492308
2025-06-05T06:03:14.960Z,1749103394.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.23 m.
2025-06-05T06:03:14.969Z,1749103394.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.228485 m,
nav range: 34.184654 m,
bearing: 280.159110 deg,
approach rate: -0.658531 m/s,
LOS rate: 0.006997 deg/s,
cmd heading: 285.297821 deg,
new cmd heading: 285.305138 deg.
2025-06-05T06:03:14.972Z,1749103394.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.979514 target range: 34.228485 and range: 34.50 m.
2025-06-05T06:03:15.144Z,1749103395.144 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.744331
2025-06-05T06:03:15.395Z,1749103395.395 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.995073
2025-06-05T06:03:15.454Z,1749103395.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:15.456Z,1749103395.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.23 m.
2025-06-05T06:03:15.461Z,1749103395.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.228485 m,
nav range: 33.875267 m,
bearing: 280.187544 deg,
approach rate: -0.621754 m/s,
LOS rate: 0.057664 deg/s,
cmd heading: 285.305143 deg,
new cmd heading: 285.391224 deg.
2025-06-05T06:03:15.462Z,1749103395.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.981017 target range: 34.228485 and range: 34.50 m.
2025-06-05T06:03:15.647Z,1749103395.647 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.247288
2025-06-05T06:03:15.899Z,1749103395.899 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.498859
2025-06-05T06:03:15.927Z,1749103395.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.23 m.
2025-06-05T06:03:15.930Z,1749103395.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.228485 m,
nav range: 33.602108 m,
bearing: 280.213945 deg,
approach rate: -0.586649 m/s,
LOS rate: 0.057161 deg/s,
cmd heading: 285.391231 deg,
new cmd heading: 285.471078 deg.
2025-06-05T06:03:15.935Z,1749103395.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.982410 target range: 34.228485 and range: 34.50 m.
2025-06-05T06:03:16.154Z,1749103396.154 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.753476
2025-06-05T06:03:16.403Z,1749103396.403 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.003191
2025-06-05T06:03:16.443Z,1749103396.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.23 m.
2025-06-05T06:03:16.447Z,1749103396.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.228485 m,
nav range: 33.265877 m,
bearing: 280.251934 deg,
approach rate: -0.647335 m/s,
LOS rate: 0.073879 deg/s,
cmd heading: 285.471089 deg,
new cmd heading: 285.586210 deg.
2025-06-05T06:03:16.448Z,1749103396.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.984420 target range: 34.228485 and range: 34.50 m.
2025-06-05T06:03:16.655Z,1749103396.655 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.254894
2025-06-05T06:03:16.804Z,1749103396.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.23 m.
2025-06-05T06:03:16.807Z,1749103396.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.228485 m,
nav range: 33.042690 m,
bearing: 280.279282 deg,
approach rate: -0.616333 m/s,
LOS rate: 0.076031 deg/s,
cmd heading: 285.586219 deg,
new cmd heading: 285.668817 deg.
2025-06-05T06:03:16.808Z,1749103396.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.985861 target range: 34.228485 and range: 34.50 m.
2025-06-05T06:03:16.907Z,1749103396.907 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.507110
2025-06-05T06:03:17.161Z,1749103397.161 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.760717
2025-06-05T06:03:17.311Z,1749103397.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.23 m.
2025-06-05T06:03:17.374Z,1749103397.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.228485 m,
nav range: 32.735111 m,
bearing: 280.318336 deg,
approach rate: -0.605732 m/s,
LOS rate: 0.077635 deg/s,
cmd heading: 285.668810 deg,
new cmd heading: 285.787074 deg.
2025-06-05T06:03:17.385Z,1749103397.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.987926 target range: 34.228485 and range: 34.50 m.
2025-06-05T06:03:17.411Z,1749103397.411 [DAT](INFO): DAT read: Rx Time:06:03:16.1191
2025-06-05T06:03:17.412Z,1749103397.412 [DAT](INFO): Rx dataTimestamp_ set to:1749103397.411339
2025-06-05T06:03:17.412Z,1749103397.412 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.012059
2025-06-05T06:03:17.663Z,1749103397.663 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.263093
2025-06-05T06:03:17.748Z,1749103397.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:17.750Z,1749103397.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.23 m.
2025-06-05T06:03:17.753Z,1749103397.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.228485 m,
nav range: 32.464352 m,
bearing: 280.346154 deg,
approach rate: -0.617475 m/s,
LOS rate: 0.063969 deg/s,
cmd heading: 285.787081 deg,
new cmd heading: 285.871231 deg.
2025-06-05T06:03:17.754Z,1749103397.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989394 target range: 34.228485 and range: 34.50 m.
2025-06-05T06:03:17.921Z,1749103397.921 [DAT](INFO): DAT read: 06:03:16.1191 LVL= 21968, 25121, 17250, 28019, AGC= 62, IDX= 406, 0.42,-2.211, 2.688,-1.951,-2.601, PHS= 0.478,-0.947, 0.647, RAW= 155.5, -2.4, CAL= 158.9, -10.8, ROT= 351.1, 10.8
2025-06-05T06:03:17.922Z,1749103397.922 [DAT](INFO): got valid direction response:
06:03:16.1191 LVL= 21968, 25121, 17250, 28019, AGC= 62, IDX= 406, 0.42,-2.211, 2.688,-1.951,-2.601, PHS= 0.478,-0.947, 0.647, RAW= 155.5, -2.4, CAL= 158.9, -10.8, ROT= 351.1, 10.8
2025-06-05T06:03:17.923Z,1749103397.923 [DAT](INFO): DAT read: Bearing 351.1, 10.8 (Local)
2025-06-05T06:03:17.924Z,1749103397.924 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.1, 10.8 (Local)
2025-06-05T06:03:17.927Z,1749103397.927 [DAT](INFO): DAT read: Range 10 to 50 : 32.4 m (Round-trip 43.2 ms) speed 0.5 m/s
2025-06-05T06:03:17.927Z,1749103397.927 [DAT](INFO): DAT read: user:636>
2025-06-05T06:03:17.928Z,1749103397.928 [DAT](INFO): DAT read: Tx time:06:03:17.2217
2025-06-05T06:03:17.928Z,1749103397.928 [DAT](INFO): Ping request sent.
2025-06-05T06:03:17.928Z,1749103397.928 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:17.929Z,1749103397.929 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-05T06:03:17.930Z,1749103397.930 [DAT](INFO): direction in FSK: [0.970460,-0.151970,-0.187381]
2025-06-05T06:03:17.934Z,1749103397.934 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:17.935Z,1749103397.935 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:17.938Z,1749103397.938 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:17.938Z,1749103397.938 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:17.950Z,1749103397.950 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.017534
2025-06-05T06:03:18.156Z,1749103398.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.400002 m,
deltaT: 3.528284 s,
deltaX: -2.099998 m,
approachRate: -0.595190 m/s,
rangeRepo size: 4
2025-06-05T06:03:18.160Z,1749103398.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.144997 m,
bearing: 278.048897 deg,
lat: 36.906107 deg,
lon: -122.116058 deg,
deltaT: 3.528284 s,
deltaX: -2.083488 m,
approachRate: -0.590510 m/s,
posRepo size: 4
2025-06-05T06:03:18.161Z,1749103398.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T06:03:18.167Z,1749103398.167 [DAT](INFO): DAT read: TxSync time:06:03:17.2209
2025-06-05T06:03:18.168Z,1749103398.168 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.239825
2025-06-05T06:03:18.178Z,1749103398.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.144997 m,
nav range: 32.082306 m,
bearing: 278.663502 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.063969 deg/s,
cmd heading: 285.871229 deg,
new cmd heading: 285.947880 deg.
2025-06-05T06:03:18.183Z,1749103398.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.990732 target range: 32.144997 and range: 32.40 m.
2025-06-05T06:03:18.420Z,1749103398.420 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.491975
2025-06-05T06:03:18.548Z,1749103398.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T06:03:18.551Z,1749103398.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.144997 m,
nav range: 31.830273 m,
bearing: 278.654705 deg,
approach rate: -0.631770 m/s,
LOS rate: -0.022226 deg/s,
cmd heading: 285.947891 deg,
new cmd heading: 285.921292 deg.
2025-06-05T06:03:18.552Z,1749103398.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.990268 target range: 32.144997 and range: 32.40 m.
2025-06-05T06:03:18.675Z,1749103398.675 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.746045
2025-06-05T06:03:18.897Z,1749103398.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T06:03:18.900Z,1749103398.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.144997 m,
nav range: 31.620237 m,
bearing: 278.647967 deg,
approach rate: -0.602504 m/s,
LOS rate: -0.019459 deg/s,
cmd heading: 285.921281 deg,
new cmd heading: 285.900931 deg.
2025-06-05T06:03:18.901Z,1749103398.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989913 target range: 32.144997 and range: 32.40 m.
2025-06-05T06:03:18.923Z,1749103398.923 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.994731
2025-06-05T06:03:19.176Z,1749103399.176 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.247521
2025-06-05T06:03:19.318Z,1749103399.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T06:03:19.321Z,1749103399.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.144997 m,
nav range: 31.374254 m,
bearing: 278.640360 deg,
approach rate: -0.607014 m/s,
LOS rate: -0.018920 deg/s,
cmd heading: 285.900927 deg,
new cmd heading: 285.877926 deg.
2025-06-05T06:03:19.328Z,1749103399.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989511 target range: 32.144997 and range: 32.40 m.
2025-06-05T06:03:19.428Z,1749103399.428 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.499579
2025-06-05T06:03:19.679Z,1749103399.679 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.750702
2025-06-05T06:03:19.737Z,1749103399.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T06:03:19.764Z,1749103399.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.144997 m,
nav range: 31.113979 m,
bearing: 278.594983 deg,
approach rate: -0.597893 m/s,
LOS rate: -0.105109 deg/s,
cmd heading: 285.877923 deg,
new cmd heading: 285.740655 deg.
2025-06-05T06:03:19.765Z,1749103399.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.987115 target range: 32.144997 and range: 32.40 m.
2025-06-05T06:03:19.931Z,1749103399.931 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.003026
2025-06-05T06:03:20.103Z,1749103400.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:20.105Z,1749103400.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T06:03:20.109Z,1749103400.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.144997 m,
nav range: 30.894093 m,
bearing: 278.555783 deg,
approach rate: -0.598211 m/s,
LOS rate: -0.107404 deg/s,
cmd heading: 285.740663 deg,
new cmd heading: 285.622227 deg.
2025-06-05T06:03:20.139Z,1749103400.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.985048 target range: 32.144997 and range: 32.40 m.
2025-06-05T06:03:20.184Z,1749103400.184 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.256035
2025-06-05T06:03:20.435Z,1749103400.435 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.506664
2025-06-05T06:03:20.564Z,1749103400.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T06:03:20.567Z,1749103400.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.144997 m,
nav range: 30.619169 m,
bearing: 278.470521 deg,
approach rate: -0.599104 m/s,
LOS rate: -0.187469 deg/s,
cmd heading: 285.622228 deg,
new cmd heading: 285.364146 deg.
2025-06-05T06:03:20.568Z,1749103400.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.980544 target range: 32.144997 and range: 32.40 m.
2025-06-05T06:03:20.690Z,1749103400.690 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.761137
2025-06-05T06:03:20.929Z,1749103400.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T06:03:20.932Z,1749103400.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.144997 m,
nav range: 30.400444 m,
bearing: 278.401652 deg,
approach rate: -0.599643 m/s,
LOS rate: -0.190165 deg/s,
cmd heading: 285.364156 deg,
new cmd heading: 285.156064 deg.
2025-06-05T06:03:20.933Z,1749103400.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.976912 target range: 32.144997 and range: 32.40 m.
2025-06-05T06:03:20.944Z,1749103400.944 [DAT](INFO): DAT read: Rx Time:06:03:19.6661
2025-06-05T06:03:20.945Z,1749103400.945 [DAT](INFO): Rx dataTimestamp_ set to:1749103400.944325
2025-06-05T06:03:20.945Z,1749103400.945 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.016744
2025-06-05T06:03:21.195Z,1749103401.195 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.266594
2025-06-05T06:03:21.331Z,1749103401.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T06:03:21.334Z,1749103401.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.144997 m,
nav range: 30.157335 m,
bearing: 278.323758 deg,
approach rate: -0.604106 m/s,
LOS rate: -0.195122 deg/s,
cmd heading: 285.156054 deg,
new cmd heading: 284.920489 deg.
2025-06-05T06:03:21.351Z,1749103401.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972801 target range: 32.144997 and range: 32.40 m.
2025-06-05T06:03:21.456Z,1749103401.456 [DAT](INFO): DAT read: 06:03:19.6661 LVL= 24928, 25937, 17650, 27603, AGC= 62, IDX= 408, 0.18,-1.580,-3.056,-1.340,-2.009, PHS= 0.518,-1.000, 0.666, RAW= 154.6, -2.3, CAL= 158.1, -10.8, ROT= 351.9, 10.8
2025-06-05T06:03:21.457Z,1749103401.457 [DAT](INFO): got valid direction response:
06:03:19.6661 LVL= 24928, 25937, 17650, 27603, AGC= 62, IDX= 408, 0.18,-1.580,-3.056,-1.340,-2.009, PHS= 0.518,-1.000, 0.666, RAW= 154.6, -2.3, CAL= 158.1, -10.8, ROT= 351.9, 10.8
2025-06-05T06:03:21.458Z,1749103401.458 [DAT](INFO): DAT read: Bearing 351.9, 10.8 (Local)
2025-06-05T06:03:21.458Z,1749103401.458 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.9, 10.8 (Local)
2025-06-05T06:03:21.461Z,1749103401.461 [DAT](INFO): DAT read: Range 10 to 50 : 30.1 m (Round-trip 40.2 ms) speed 0.8 m/s
2025-06-05T06:03:21.462Z,1749103401.462 [DAT](INFO): DAT read: user:637>
2025-06-05T06:03:21.463Z,1749103401.463 [DAT](INFO): DAT read: Tx time:06:03:20.7717
2025-06-05T06:03:21.464Z,1749103401.464 [DAT](INFO): Ping request sent.
2025-06-05T06:03:21.464Z,1749103401.464 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:21.465Z,1749103401.465 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-05T06:03:21.466Z,1749103401.466 [DAT](INFO): direction in FSK: [0.972488,-0.138405,-0.187381]
2025-06-05T06:03:21.467Z,1749103401.467 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:21.467Z,1749103401.467 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:21.473Z,1749103401.473 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:21.474Z,1749103401.474 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:21.480Z,1749103401.480 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.016291
2025-06-05T06:03:21.699Z,1749103401.699 [DAT](INFO): DAT read: TxSync time:06:03:20.7709
2025-06-05T06:03:21.700Z,1749103401.700 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.236064
2025-06-05T06:03:21.851Z,1749103401.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.100000 m,
deltaT: 3.533680 s,
deltaX: -2.300001 m,
approachRate: -0.650880 m/s,
rangeRepo size: 4
2025-06-05T06:03:21.853Z,1749103401.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.862913 m,
bearing: 278.847123 deg,
lat: 36.906107 deg,
lon: -122.116058 deg,
deltaT: 3.533680 s,
deltaX: -2.282084 m,
approachRate: -0.645809 m/s,
posRepo size: 4
2025-06-05T06:03:21.854Z,1749103401.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:21.866Z,1749103401.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 29.861736 m,
bearing: 278.192299 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.195122 deg/s,
cmd heading: 284.920494 deg,
new cmd heading: 284.616631 deg.
2025-06-05T06:03:21.867Z,1749103401.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.967497 target range: 29.862913 and range: 30.10 m.
2025-06-05T06:03:21.951Z,1749103401.951 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.487261
2025-06-05T06:03:22.170Z,1749103402.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:22.172Z,1749103402.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:22.177Z,1749103402.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 29.658535 m,
bearing: 278.100392 deg,
approach rate: -0.631287 m/s,
LOS rate: -0.287485 deg/s,
cmd heading: 284.616633 deg,
new cmd heading: 284.339024 deg.
2025-06-05T06:03:22.178Z,1749103402.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.962652 target range: 29.862913 and range: 30.10 m.
2025-06-05T06:03:22.203Z,1749103402.203 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.739183
2025-06-05T06:03:22.460Z,1749103402.460 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.996224
2025-06-05T06:03:22.593Z,1749103402.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:22.596Z,1749103402.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 29.403652 m,
bearing: 277.970848 deg,
approach rate: -0.606347 m/s,
LOS rate: -0.310846 deg/s,
cmd heading: 284.339027 deg,
new cmd heading: 283.947033 deg.
2025-06-05T06:03:22.597Z,1749103402.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.955811 target range: 29.862913 and range: 30.10 m.
2025-06-05T06:03:22.708Z,1749103402.708 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.243718
2025-06-05T06:03:22.960Z,1749103402.960 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.496543
2025-06-05T06:03:22.965Z,1749103402.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:22.968Z,1749103402.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 29.181177 m,
bearing: 277.856707 deg,
approach rate: -0.597420 m/s,
LOS rate: -0.308843 deg/s,
cmd heading: 283.947028 deg,
new cmd heading: 283.602000 deg.
2025-06-05T06:03:22.969Z,1749103402.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.949789 target range: 29.862913 and range: 30.10 m.
2025-06-05T06:03:23.211Z,1749103403.211 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.747127
2025-06-05T06:03:23.394Z,1749103403.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:23.397Z,1749103403.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 28.927605 m,
bearing: 277.725344 deg,
approach rate: -0.591413 m/s,
LOS rate: -0.309068 deg/s,
cmd heading: 283.601995 deg,
new cmd heading: 283.204456 deg.
2025-06-05T06:03:23.397Z,1749103403.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.942850 target range: 29.862913 and range: 30.10 m.
2025-06-05T06:03:23.466Z,1749103403.466 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.001377
2025-06-05T06:03:23.715Z,1749103403.715 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.251409
2025-06-05T06:03:23.839Z,1749103403.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:23.844Z,1749103403.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 28.648863 m,
bearing: 277.572576 deg,
approach rate: -0.625179 m/s,
LOS rate: -0.345971 deg/s,
cmd heading: 283.204450 deg,
new cmd heading: 282.741698 deg.
2025-06-05T06:03:23.845Z,1749103403.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.934773 target range: 29.862913 and range: 30.10 m.
2025-06-05T06:03:23.967Z,1749103403.967 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.503383
2025-06-05T06:03:24.182Z,1749103404.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:24.186Z,1749103404.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:24.189Z,1749103404.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 28.440786 m,
bearing: 277.457455 deg,
approach rate: -0.600985 m/s,
LOS rate: -0.334933 deg/s,
cmd heading: 282.741691 deg,
new cmd heading: 282.393808 deg.
2025-06-05T06:03:24.190Z,1749103404.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.928702 target range: 29.862913 and range: 30.10 m.
2025-06-05T06:03:24.219Z,1749103404.219 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.755025
2025-06-05T06:03:24.474Z,1749103404.474 [DAT](INFO): DAT read: Rx Time:.2131
2025-06-05T06:03:24.479Z,1749103404.479 [DAT](INFO): Rx dataTimestamp_ set to:1749103404.477818
2025-06-05T06:03:24.480Z,1749103404.480 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.016285
2025-06-05T06:03:24.615Z,1749103404.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:24.618Z,1749103404.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 28.177584 m,
bearing: 277.336008 deg,
approach rate: -0.612870 m/s,
LOS rate: -0.285432 deg/s,
cmd heading: 282.393816 deg,
new cmd heading: 282.026077 deg.
2025-06-05T06:03:24.619Z,1749103404.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.922284 target range: 29.862913 and range: 30.10 m.
2025-06-05T06:03:24.724Z,1749103404.724 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.260034
2025-06-05T06:03:24.989Z,1749103404.989 [DAT](INFO): DAT read: 06:03:23.2131 LVL= 18656, 25585, 13938, 28947, AGC= 59, IDX= 409,-0.01, 2.814, 1.366, 3.011, 2.418, PHS= 0.484,-1.005, 0.589, RAW= 153.4, -0.9, CAL= 156.5, -9.6, ROT= 353.5, 9.6
2025-06-05T06:03:24.996Z,1749103404.996 [DAT](INFO): got valid direction response:
06:03:23.2131 LVL= 18656, 25585, 13938, 28947, AGC= 59, IDX= 409,-0.01, 2.814, 1.366, 3.011, 2.418, PHS= 0.484,-1.005, 0.589, RAW= 153.4, -0.9, CAL= 156.5, -9.6, ROT= 353.5, 9.6
2025-06-05T06:03:24.997Z,1749103404.997 [DAT](INFO): DAT read: Bearing 353.5, 9.6 (Local)
2025-06-05T06:03:24.997Z,1749103404.997 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.5, 9.6 (Local)
2025-06-05T06:03:24.997Z,1749103404.997 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-06-05T06:03:25.011Z,1749103405.011 [DAT](INFO): direction in FSK: [0.979658,-0.111618,-0.166769]
2025-06-05T06:03:25.022Z,1749103405.022 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.558422
2025-06-05T06:03:25.095Z,1749103405.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:25.098Z,1749103405.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 27.895187 m,
bearing: 277.206200 deg,
approach rate: -0.588377 m/s,
LOS rate: -0.273194 deg/s,
cmd heading: 282.026079 deg,
new cmd heading: 281.632720 deg.
2025-06-05T06:03:25.109Z,1749103405.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.915418 target range: 29.862913 and range: 30.10 m.
2025-06-05T06:03:25.229Z,1749103405.229 [DAT](INFO): DAT read: Range 10 to 50 : 27.9 m (Round-trip 37.2 ms) speed 0.6 m/s
2025-06-05T06:03:25.231Z,1749103405.231 [DAT](INFO): DAT read: user:638>
2025-06-05T06:03:25.232Z,1749103405.232 [DAT](INFO): DAT read: Tx time:06:03:24.3218
2025-06-05T06:03:25.233Z,1749103405.233 [DAT](INFO): Ping request sent.
2025-06-05T06:03:25.233Z,1749103405.233 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:25.233Z,1749103405.233 [DAT](INFO): DAT read: TxSync time:06:03:24.3210
2025-06-05T06:03:25.234Z,1749103405.234 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-06-05T06:03:25.235Z,1749103405.235 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:25.235Z,1749103405.235 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:25.236Z,1749103405.236 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.003340
2025-06-05T06:03:25.483Z,1749103405.483 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.248969
2025-06-05T06:03:25.537Z,1749103405.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.900000 m,
deltaT: 3.778746 s,
deltaX: -2.200001 m,
approachRate: -0.582204 m/s,
rangeRepo size: 4
2025-06-05T06:03:25.537Z,1749103405.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:25.540Z,1749103405.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 27.653751 m,
bearing: 277.093064 deg,
approach rate: -0.547639 m/s,
LOS rate: -0.258863 deg/s,
cmd heading: 281.632714 deg,
new cmd heading: 281.290347 deg.
2025-06-05T06:03:25.542Z,1749103405.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.909443 target range: 29.862913 and range: 27.90 m.
2025-06-05T06:03:25.667Z,1749103405.667 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:03:25.732Z,1749103405.732 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.499404
2025-06-05T06:03:25.849Z,1749103405.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:25.852Z,1749103405.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 27.428005 m,
bearing: 277.018170 deg,
approach rate: -0.721453 m/s,
LOS rate: -0.241322 deg/s,
cmd heading: 281.290358 deg,
new cmd heading: 281.063827 deg.
2025-06-05T06:03:25.853Z,1749103405.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.905489 target range: 29.862913 and range: 27.90 m.
2025-06-05T06:03:25.984Z,1749103405.984 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.751157
2025-06-05T06:03:26.234Z,1749103406.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:26.237Z,1749103406.237 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.003819
2025-06-05T06:03:26.244Z,1749103406.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:26.249Z,1749103406.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 27.195972 m,
bearing: 276.941769 deg,
approach rate: -0.589005 m/s,
LOS rate: -0.195595 deg/s,
cmd heading: 281.063814 deg,
new cmd heading: 280.832657 deg.
2025-06-05T06:03:26.252Z,1749103406.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.901454 target range: 29.862913 and range: 27.90 m.
2025-06-05T06:03:26.491Z,1749103406.491 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.258052
2025-06-05T06:03:26.655Z,1749103406.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:26.658Z,1749103406.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 26.944866 m,
bearing: 276.891662 deg,
approach rate: -0.609197 m/s,
LOS rate: -0.122694 deg/s,
cmd heading: 280.832653 deg,
new cmd heading: 280.680933 deg.
2025-06-05T06:03:26.660Z,1749103406.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.898807 target range: 29.862913 and range: 27.90 m.
2025-06-05T06:03:26.671Z,1749103406.671 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:03:26.739Z,1749103406.739 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.506586
2025-06-05T06:03:26.992Z,1749103406.992 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.758472
2025-06-05T06:03:27.069Z,1749103407.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:27.072Z,1749103407.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 26.701162 m,
bearing: 276.844595 deg,
approach rate: -0.588702 m/s,
LOS rate: -0.114736 deg/s,
cmd heading: 280.680941 deg,
new cmd heading: 280.538451 deg.
2025-06-05T06:03:27.073Z,1749103407.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.896320 target range: 29.862913 and range: 27.90 m.
2025-06-05T06:03:27.244Z,1749103407.244 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.011172
2025-06-05T06:03:27.453Z,1749103407.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:27.456Z,1749103407.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 26.476433 m,
bearing: 276.802837 deg,
approach rate: -0.584636 m/s,
LOS rate: -0.109556 deg/s,
cmd heading: 280.538463 deg,
new cmd heading: 280.412127 deg.
2025-06-05T06:03:27.457Z,1749103407.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.894115 target range: 29.862913 and range: 27.90 m.
2025-06-05T06:03:27.499Z,1749103407.499 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.265009
2025-06-05T06:03:27.748Z,1749103407.748 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.515201
2025-06-05T06:03:27.911Z,1749103407.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:27.913Z,1749103407.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 26.219215 m,
bearing: 276.799053 deg,
approach rate: -0.589056 m/s,
LOS rate: -0.008751 deg/s,
cmd heading: 280.412132 deg,
new cmd heading: 280.400669 deg.
2025-06-05T06:03:27.919Z,1749103407.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.893915 target range: 29.862913 and range: 27.90 m.
2025-06-05T06:03:27.999Z,1749103407.999 [DAT](INFO): DAT read: Rx Time:06:03:26.7603
2025-06-05T06:03:27.000Z,1749103408.000 [DAT](INFO): Rx dataTimestamp_ set to:1749103407.999411
2025-06-05T06:03:28.000Z,1749103408.000 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.767558
2025-06-05T06:03:28.251Z,1749103408.251 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.018498
2025-06-05T06:03:28.275Z,1749103408.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:28.285Z,1749103408.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:28.288Z,1749103408.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 26.012056 m,
bearing: 276.799948 deg,
approach rate: -0.524724 m/s,
LOS rate: 0.002286 deg/s,
cmd heading: 280.400658 deg,
new cmd heading: 280.403365 deg.
2025-06-05T06:03:28.289Z,1749103408.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.893962 target range: 29.862913 and range: 27.90 m.
2025-06-05T06:03:28.508Z,1749103408.508 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.274563
2025-06-05T06:03:28.668Z,1749103408.668 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -89, +10,A
2025-06-05T06:03:28.686Z,1749103408.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-06-05T06:03:28.689Z,1749103408.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.862913 m,
nav range: 25.756414 m,
bearing: 276.801073 deg,
approach rate: -0.637474 m/s,
LOS rate: 0.002833 deg/s,
cmd heading: 280.403362 deg,
new cmd heading: 280.406770 deg.
2025-06-05T06:03:28.690Z,1749103408.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.894022 target range: 29.862913 and range: 27.90 m.
2025-06-05T06:03:28.762Z,1749103408.762 [DAT](INFO): DAT read: 06:03:26.7603 LVL= 19104, 21617, 15282, 28291, AGC= 61, IDX= 412,-0.29,-0.578,-2.018,-0.390,-1.004, PHS= 0.515,-0.967, 0.611, RAW= 153.1, -2.1, CAL= 156.7, -10.7, ROT= 353.3, 10.7
2025-06-05T06:03:28.764Z,1749103408.764 [DAT](INFO): got valid direction response:
06:03:26.7603 LVL= 19104, 21617, 15282, 28291, AGC= 61, IDX= 412,-0.29,-0.578,-2.018,-0.390,-1.004, PHS= 0.515,-0.967, 0.611, RAW= 153.1, -2.1, CAL= 156.7, -10.7, ROT= 353.3, 10.7
2025-06-05T06:03:28.764Z,1749103408.764 [DAT](INFO): DAT read: Bearing 353.3, 10.7 (Local)
2025-06-05T06:03:28.765Z,1749103408.765 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.3, 10.7 (Local)
2025-06-05T06:03:28.770Z,1749103408.770 [DAT](INFO): DAT read: Range 10 to 50 : 25.7 m (Round-trip 34.3 ms) speed 0.4 m/s
2025-06-05T06:03:28.789Z,1749103408.789 [DAT](INFO): DAT read: user:639>
2025-06-05T06:03:28.796Z,1749103408.796 [DAT](INFO): DAT read: Tx time:06:03:27.8734
2025-06-05T06:03:28.796Z,1749103408.796 [DAT](INFO): Ping request sent.
2025-06-05T06:03:28.796Z,1749103408.796 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:28.797Z,1749103408.797 [DAT](INFO): DAT read: TxSync time:06:03:27.8726
2025-06-05T06:03:28.797Z,1749103408.797 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-05T06:03:28.810Z,1749103408.810 [DAT](INFO): direction in FSK: [0.975902,-0.114643,-0.185667]
2025-06-05T06:03:28.811Z,1749103408.811 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:28.811Z,1749103408.811 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:28.829Z,1749103408.829 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:28.829Z,1749103408.829 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:28.877Z,1749103408.877 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.080586
2025-06-05T06:03:29.007Z,1749103409.007 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.210934
2025-06-05T06:03:29.089Z,1749103409.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.700001 m,
deltaT: 3.527335 s,
deltaX: -2.199999 m,
approachRate: -0.623700 m/s,
rangeRepo size: 4
2025-06-05T06:03:29.103Z,1749103409.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.497158 m,
bearing: 276.608324 deg,
lat: 36.906106 deg,
lon: -122.116058 deg,
deltaT: 7.306081 s,
deltaX: -4.365755 m,
approachRate: -0.597551 m/s,
posRepo size: 4
2025-06-05T06:03:29.104Z,1749103409.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.50 m.
2025-06-05T06:03:29.111Z,1749103409.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.497158 m,
nav range: 25.517097 m,
bearing: 276.602037 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002833 deg/s,
cmd heading: 280.406777 deg,
new cmd heading: 280.410195 deg.
2025-06-05T06:03:29.112Z,1749103409.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.894081 target range: 25.497158 and range: 25.70 m.
2025-06-05T06:03:29.261Z,1749103409.261 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.464268
2025-06-05T06:03:29.489Z,1749103409.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.50 m.
2025-06-05T06:03:29.497Z,1749103409.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.497158 m,
nav range: 25.273087 m,
bearing: 276.609270 deg,
approach rate: -0.609068 m/s,
LOS rate: 0.018228 deg/s,
cmd heading: 280.410193 deg,
new cmd heading: 280.432101 deg.
2025-06-05T06:03:29.514Z,1749103409.514 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.717333
2025-06-05T06:03:29.521Z,1749103409.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.894464 target range: 25.497158 and range: 25.70 m.
2025-06-05T06:03:29.763Z,1749103409.763 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.966824
2025-06-05T06:03:29.963Z,1749103409.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.50 m.
2025-06-05T06:03:29.966Z,1749103409.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.497158 m,
nav range: 24.980618 m,
bearing: 276.651963 deg,
approach rate: -0.617550 m/s,
LOS rate: 0.091202 deg/s,
cmd heading: 280.432104 deg,
new cmd heading: 280.561682 deg.
2025-06-05T06:03:29.987Z,1749103409.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.896725 target range: 25.497158 and range: 25.70 m.
2025-06-05T06:03:30.018Z,1749103410.018 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.221945
2025-06-05T06:03:30.267Z,1749103410.267 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.471135
2025-06-05T06:03:30.282Z,1749103410.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:30.284Z,1749103410.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.50 m.
2025-06-05T06:03:30.288Z,1749103410.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.497158 m,
nav range: 24.784958 m,
bearing: 276.683171 deg,
approach rate: -0.606877 m/s,
LOS rate: 0.097562 deg/s,
cmd heading: 280.561686 deg,
new cmd heading: 280.656049 deg.
2025-06-05T06:03:30.289Z,1749103410.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.898372 target range: 25.497158 and range: 25.70 m.
2025-06-05T06:03:30.383Z,1749103410.383 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T06:03:30.523Z,1749103410.523 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.726329
2025-06-05T06:03:30.772Z,1749103410.772 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.975572
2025-06-05T06:03:30.804Z,1749103410.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.50 m.
2025-06-05T06:03:30.807Z,1749103410.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.497158 m,
nav range: 24.454586 m,
bearing: 276.716862 deg,
approach rate: -0.635714 m/s,
LOS rate: 0.065706 deg/s,
cmd heading: 280.656052 deg,
new cmd heading: 280.758491 deg.
2025-06-05T06:03:30.810Z,1749103410.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.900160 target range: 25.497158 and range: 25.70 m.
2025-06-05T06:03:31.023Z,1749103411.023 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.226894
2025-06-05T06:03:31.120Z,1749103411.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.50 m.
2025-06-05T06:03:31.128Z,1749103411.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.497158 m,
nav range: 24.259253 m,
bearing: 276.740039 deg,
approach rate: -0.617890 m/s,
LOS rate: 0.073903 deg/s,
cmd heading: 280.758505 deg,
new cmd heading: 280.828594 deg.
2025-06-05T06:03:31.129Z,1749103411.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.901383 target range: 25.497158 and range: 25.70 m.
2025-06-05T06:03:31.277Z,1749103411.277 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.480116
2025-06-05T06:03:31.527Z,1749103411.527 [DAT](INFO): DAT read: Rx Time:06:03:30.3091
2025-06-05T06:03:31.528Z,1749103411.528 [DAT](INFO): Rx dataTimestamp_ set to:1749103411.527441
2025-06-05T06:03:31.528Z,1749103411.528 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.731969
2025-06-05T06:03:31.620Z,1749103411.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.50 m.
2025-06-05T06:03:31.627Z,1749103411.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.497158 m,
nav range: 23.971769 m,
bearing: 276.777006 deg,
approach rate: -0.575876 m/s,
LOS rate: 0.074940 deg/s,
cmd heading: 280.828583 deg,
new cmd heading: 280.940814 deg.
2025-06-05T06:03:31.628Z,1749103411.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.903342 target range: 25.497158 and range: 25.70 m.
2025-06-05T06:03:31.779Z,1749103411.779 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.982807
2025-06-05T06:03:31.000Z,1749103412.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.50 m.
2025-06-05T06:03:32.007Z,1749103412.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.497158 m,
nav range: 23.705591 m,
bearing: 276.791045 deg,
approach rate: -0.700509 m/s,
LOS rate: 0.037362 deg/s,
cmd heading: 280.940816 deg,
new cmd heading: 280.983406 deg.
2025-06-05T06:03:32.008Z,1749103412.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.904086 target range: 25.497158 and range: 25.70 m.
2025-06-05T06:03:32.037Z,1749103412.037 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.240555
2025-06-05T06:03:32.289Z,1749103412.289 [DAT](INFO): DAT read: 06:03:30.3091 LVL= 19184, 22721, 17186, 25123, AGC= 58, IDX= 416,-0.33, 0.156,-1.320, 0.160,-0.432, PHS= 0.676,-0.841, 0.590, RAW= 147.1, -5.8, CAL= 152.4, -14.5, ROT= 357.6, 14.5
2025-06-05T06:03:32.293Z,1749103412.293 [DAT](INFO): got valid direction response:
06:03:30.3091 LVL= 19184, 22721, 17186, 25123, AGC= 58, IDX= 416,-0.33, 0.156,-1.320, 0.160,-0.432, PHS= 0.676,-0.841, 0.590, RAW= 147.1, -5.8, CAL= 152.4, -14.5, ROT= 357.6, 14.5
2025-06-05T06:03:32.295Z,1749103412.295 [DAT](INFO): DAT read: Bearing 357.6, 14.5 (Local)
2025-06-05T06:03:32.295Z,1749103412.295 [DAT](INFO): Local bearing/azimuth received:
Bearing 357.6, 14.5 (Local)
2025-06-05T06:03:32.296Z,1749103412.296 [DAT](INFO): DAT read: Range 10 to 50 : 23.7 m (Round-trip 31.6 ms) speed 0.7 m/s
2025-06-05T06:03:32.297Z,1749103412.297 [DAT](INFO): DAT read: user:640>
2025-06-05T06:03:32.298Z,1749103412.298 [DAT](INFO): DAT read: Tx time:06:03:31.4218
2025-06-05T06:03:32.303Z,1749103412.303 [DAT](INFO): Ping request sent.
2025-06-05T06:03:32.303Z,1749103412.303 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:32.303Z,1749103412.303 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-05T06:03:32.304Z,1749103412.304 [DAT](INFO): direction in FSK: [0.967298,-0.040542,-0.250380]
2025-06-05T06:03:32.304Z,1749103412.304 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:32.305Z,1749103412.305 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:32.309Z,1749103412.309 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:32.309Z,1749103412.309 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:32.313Z,1749103412.313 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.010224
2025-06-05T06:03:32.445Z,1749103412.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.700001 m,
deltaT: 3.527960 s,
deltaX: -2.000000 m,
approachRate: -0.566900 m/s,
rangeRepo size: 4
2025-06-05T06:03:32.456Z,1749103412.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.512701 m,
bearing: 279.520697 deg,
lat: 36.906106 deg,
lon: -122.116058 deg,
deltaT: 3.527960 s,
deltaX: -1.984457 m,
approachRate: -0.562494 m/s,
posRepo size: 4
2025-06-05T06:03:32.456Z,1749103412.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.51 m.
2025-06-05T06:03:32.463Z,1749103412.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.512701 m,
nav range: 23.410830 m,
bearing: 276.812779 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.037362 deg/s,
cmd heading: 280.983409 deg,
new cmd heading: 281.033313 deg.
2025-06-05T06:03:32.464Z,1749103412.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.904957 target range: 23.512701 and range: 23.70 m.
2025-06-05T06:03:32.538Z,1749103412.538 [DAT](INFO): DAT read: TxSync time:06:03:31.4210
2025-06-05T06:03:32.541Z,1749103412.541 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.237984
2025-06-05T06:03:32.787Z,1749103412.787 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.484414
2025-06-05T06:03:32.877Z,1749103412.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:32.891Z,1749103412.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.51 m.
2025-06-05T06:03:32.899Z,1749103412.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.512701 m,
nav range: 23.111698 m,
bearing: 276.799521 deg,
approach rate: -0.670656 m/s,
LOS rate: -0.030111 deg/s,
cmd heading: 281.033324 deg,
new cmd heading: 280.993033 deg.
2025-06-05T06:03:32.900Z,1749103412.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.904253 target range: 23.512701 and range: 23.70 m.
2025-06-05T06:03:33.039Z,1749103413.039 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.736518
2025-06-05T06:03:33.227Z,1749103413.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.51 m.
2025-06-05T06:03:33.230Z,1749103413.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.512701 m,
nav range: 22.896732 m,
bearing: 276.791693 deg,
approach rate: -0.648351 m/s,
LOS rate: -0.023830 deg/s,
cmd heading: 280.993026 deg,
new cmd heading: 280.969323 deg.
2025-06-05T06:03:33.239Z,1749103413.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.903840 target range: 23.512701 and range: 23.70 m.
2025-06-05T06:03:33.294Z,1749103413.294 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.990974
2025-06-05T06:03:33.543Z,1749103413.543 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.240312
2025-06-05T06:03:33.687Z,1749103413.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.51 m.
2025-06-05T06:03:33.689Z,1749103413.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.512701 m,
nav range: 22.589693 m,
bearing: 276.752536 deg,
approach rate: -0.661641 m/s,
LOS rate: -0.085527 deg/s,
cmd heading: 280.969312 deg,
new cmd heading: 280.850244 deg.
2025-06-05T06:03:33.691Z,1749103413.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.901762 target range: 23.512701 and range: 23.70 m.
2025-06-05T06:03:33.796Z,1749103413.796 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.492758
2025-06-05T06:03:34.013Z,1749103414.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.51 m.
2025-06-05T06:03:34.016Z,1749103414.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.512701 m,
nav range: 22.384258 m,
bearing: 276.727739 deg,
approach rate: -0.629762 m/s,
LOS rate: -0.076714 deg/s,
cmd heading: 280.850248 deg,
new cmd heading: 280.775174 deg.
2025-06-05T06:03:34.017Z,1749103414.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.900451 target range: 23.512701 and range: 23.70 m.
2025-06-05T06:03:34.047Z,1749103414.047 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.744427
2025-06-05T06:03:34.299Z,1749103414.299 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.996324
2025-06-05T06:03:34.435Z,1749103414.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.51 m.
2025-06-05T06:03:34.438Z,1749103414.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.512701 m,
nav range: 22.129044 m,
bearing: 276.697455 deg,
approach rate: -0.605260 m/s,
LOS rate: -0.072650 deg/s,
cmd heading: 280.775171 deg,
new cmd heading: 280.683270 deg.
2025-06-05T06:03:34.444Z,1749103414.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.898847 target range: 23.512701 and range: 23.70 m.
2025-06-05T06:03:34.551Z,1749103414.551 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.248588
2025-06-05T06:03:34.803Z,1749103414.803 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.500369
2025-06-05T06:03:34.841Z,1749103414.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.51 m.
2025-06-05T06:03:34.868Z,1749103414.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.512701 m,
nav range: 21.863663 m,
bearing: 276.641441 deg,
approach rate: -0.652977 m/s,
LOS rate: -0.139495 deg/s,
cmd heading: 280.683263 deg,
new cmd heading: 280.513185 deg.
2025-06-05T06:03:34.869Z,1749103414.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895879 target range: 23.512701 and range: 23.70 m.
2025-06-05T06:03:35.055Z,1749103415.055 [DAT](INFO): DAT read: Rx Time:06:03:33.8542
2025-06-05T06:03:35.056Z,1749103415.056 [DAT](INFO): Rx dataTimestamp_ set to:1749103415.055377
2025-06-05T06:03:35.056Z,1749103415.056 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.753446
2025-06-05T06:03:35.229Z,1749103415.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:35.231Z,1749103415.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.51 m.
2025-06-05T06:03:35.234Z,1749103415.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.512701 m,
nav range: 21.622881 m,
bearing: 276.589438 deg,
approach rate: -0.616130 m/s,
LOS rate: -0.134552 deg/s,
cmd heading: 280.513192 deg,
new cmd heading: 280.355445 deg.
2025-06-05T06:03:35.235Z,1749103415.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.893126 target range: 23.512701 and range: 23.70 m.
2025-06-05T06:03:35.307Z,1749103415.307 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.004534
2025-06-05T06:03:35.559Z,1749103415.559 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.256296
2025-06-05T06:03:35.733Z,1749103415.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.51 m.
2025-06-05T06:03:35.736Z,1749103415.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.512701 m,
nav range: 21.329018 m,
bearing: 276.508819 deg,
approach rate: -0.586190 m/s,
LOS rate: -0.163031 deg/s,
cmd heading: 280.355442 deg,
new cmd heading: 280.110255 deg.
2025-06-05T06:03:35.737Z,1749103415.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.888846 target range: 23.512701 and range: 23.70 m.
2025-06-05T06:03:35.820Z,1749103415.820 [DAT](INFO): DAT read: 06:03:33.8542 LVL= 16880, 23233, 15394, 24819, AGC= 57, IDX= 414,-0.05,-1.382,-2.849,-1.468,-1.991, PHS= 0.697,-0.811, 0.520, RAW= 143.8, -5.7, CAL= 149.5, -14.8, ROT= 0.5, 14.8
2025-06-05T06:03:35.821Z,1749103415.821 [DAT](INFO): got valid direction response:
06:03:33.8542 LVL= 16880, 23233, 15394, 24819, AGC= 57, IDX= 414,-0.05,-1.382,-2.849,-1.468,-1.991, PHS= 0.697,-0.811, 0.520, RAW= 143.8, -5.7, CAL= 149.5, -14.8, ROT= 0.5, 14.8
2025-06-05T06:03:35.822Z,1749103415.822 [DAT](INFO): DAT read: Bearing 0.5, 14.8 (Local)
2025-06-05T06:03:35.822Z,1749103415.822 [DAT](INFO): Local bearing/azimuth received:
Bearing 0.5, 14.8 (Local)
2025-06-05T06:03:35.824Z,1749103415.824 [DAT](INFO): DAT read: Range 10 to 50 : 21.2 m (Round-trip 28.3 ms) speed 0.6 m/s
2025-06-05T06:03:35.825Z,1749103415.825 [DAT](INFO): DAT read: user:641>
2025-06-05T06:03:35.827Z,1749103415.827 [DAT](INFO): DAT read: Tx time:06:03:34.9718
2025-06-05T06:03:35.827Z,1749103415.827 [DAT](INFO): Ping request sent.
2025-06-05T06:03:35.827Z,1749103415.827 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:35.827Z,1749103415.827 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-05T06:03:35.828Z,1749103415.828 [DAT](INFO): direction in FSK: [0.966787,0.008437,-0.255446]
2025-06-05T06:03:35.829Z,1749103415.829 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:35.829Z,1749103415.829 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:35.842Z,1749103415.842 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:35.843Z,1749103415.843 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:35.867Z,1749103415.867 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.039776
2025-06-05T06:03:36.063Z,1749103416.063 [DAT](INFO): DAT read: TxSync time:06:03:34.9710
2025-06-05T06:03:36.064Z,1749103416.064 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.236853
2025-06-05T06:03:36.167Z,1749103416.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.200001 m,
deltaT: 3.529519 s,
deltaX: -2.500000 m,
approachRate: -0.708312 m/s,
rangeRepo size: 4
2025-06-05T06:03:36.169Z,1749103416.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.032400 m,
bearing: 281.586854 deg,
lat: 36.906110 deg,
lon: -122.116057 deg,
deltaT: 3.529519 s,
deltaX: -2.480301 m,
approachRate: -0.702731 m/s,
posRepo size: 4
2025-06-05T06:03:36.169Z,1749103416.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.03 m.
2025-06-05T06:03:36.181Z,1749103416.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.032400 m,
nav range: 21.119438 m,
bearing: 277.610038 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.163031 deg/s,
cmd heading: 280.110265 deg,
new cmd heading: 279.902423 deg.
2025-06-05T06:03:36.182Z,1749103416.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.885219 target range: 21.032400 and range: 21.20 m.
2025-06-05T06:03:36.315Z,1749103416.315 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.488147
2025-06-05T06:03:36.516Z,1749103416.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.03 m.
2025-06-05T06:03:36.524Z,1749103416.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.032400 m,
nav range: 20.889057 m,
bearing: 277.554299 deg,
approach rate: -0.643771 m/s,
LOS rate: -0.157472 deg/s,
cmd heading: 279.902436 deg,
new cmd heading: 279.733377 deg.
2025-06-05T06:03:36.525Z,1749103416.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.882268 target range: 21.032400 and range: 21.20 m.
2025-06-05T06:03:36.570Z,1749103416.570 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.742601
2025-06-05T06:03:36.819Z,1749103416.819 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.992051
2025-06-05T06:03:36.911Z,1749103416.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.03 m.
2025-06-05T06:03:36.914Z,1749103416.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.032400 m,
nav range: 20.652121 m,
bearing: 277.490746 deg,
approach rate: -0.599054 m/s,
LOS rate: -0.162528 deg/s,
cmd heading: 279.733375 deg,
new cmd heading: 279.540528 deg.
2025-06-05T06:03:36.915Z,1749103416.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.878902 target range: 21.032400 and range: 21.20 m.
2025-06-05T06:03:37.071Z,1749103417.071 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.243870
2025-06-05T06:03:37.281Z,1749103417.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:37.283Z,1749103417.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.03 m.
2025-06-05T06:03:37.286Z,1749103417.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.032400 m,
nav range: 20.442083 m,
bearing: 277.432140 deg,
approach rate: -0.564531 m/s,
LOS rate: -0.159138 deg/s,
cmd heading: 279.540518 deg,
new cmd heading: 279.362894 deg.
2025-06-05T06:03:37.287Z,1749103417.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875803 target range: 21.032400 and range: 21.20 m.
2025-06-05T06:03:37.323Z,1749103417.323 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.496298
2025-06-05T06:03:37.575Z,1749103417.575 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.747986
2025-06-05T06:03:37.745Z,1749103417.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.03 m.
2025-06-05T06:03:37.748Z,1749103417.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.032400 m,
nav range: 20.179785 m,
bearing: 277.373338 deg,
approach rate: -0.567451 m/s,
LOS rate: -0.128863 deg/s,
cmd heading: 279.362906 deg,
new cmd heading: 279.184209 deg.
2025-06-05T06:03:37.749Z,1749103417.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872684 target range: 21.032400 and range: 21.20 m.
2025-06-05T06:03:37.828Z,1749103417.828 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.000325
2025-06-05T06:03:38.079Z,1749103418.079 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.252044
2025-06-05T06:03:38.088Z,1749103418.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.03 m.
2025-06-05T06:03:38.091Z,1749103418.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.032400 m,
nav range: 19.986156 m,
bearing: 277.328107 deg,
approach rate: -0.565756 m/s,
LOS rate: -0.133440 deg/s,
cmd heading: 279.184201 deg,
new cmd heading: 279.047193 deg.
2025-06-05T06:03:38.093Z,1749103418.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870292 target range: 21.032400 and range: 21.20 m.
2025-06-05T06:03:38.331Z,1749103418.331 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.503916
2025-06-05T06:03:38.521Z,1749103418.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.03 m.
2025-06-05T06:03:38.528Z,1749103418.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.032400 m,
nav range: 19.755949 m,
bearing: 277.272384 deg,
approach rate: -0.531711 m/s,
LOS rate: -0.130202 deg/s,
cmd heading: 279.047187 deg,
new cmd heading: 278.878073 deg.
2025-06-05T06:03:38.529Z,1749103418.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867341 target range: 21.032400 and range: 21.20 m.
2025-06-05T06:03:38.588Z,1749103418.588 [DAT](INFO): DAT read: Rx Time:06:03:37.4013
2025-06-05T06:03:38.589Z,1749103418.589 [DAT](INFO): Rx dataTimestamp_ set to:1749103418.588457
2025-06-05T06:03:38.590Z,1749103418.590 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.762505
2025-06-05T06:03:38.839Z,1749103418.839 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.011934
2025-06-05T06:03:38.963Z,1749103418.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.03 m.
2025-06-05T06:03:38.970Z,1749103418.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.032400 m,
nav range: 19.498724 m,
bearing: 277.228918 deg,
approach rate: -0.581321 m/s,
LOS rate: -0.099528 deg/s,
cmd heading: 278.878072 deg,
new cmd heading: 278.745954 deg.
2025-06-05T06:03:38.971Z,1749103418.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.865035 target range: 21.032400 and range: 21.20 m.
2025-06-05T06:03:39.092Z,1749103419.092 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.264091
2025-06-05T06:03:39.304Z,1749103419.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:39.307Z,1749103419.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.03 m.
2025-06-05T06:03:39.312Z,1749103419.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.032400 m,
nav range: 19.292780 m,
bearing: 277.193480 deg,
approach rate: -0.600196 m/s,
LOS rate: -0.104382 deg/s,
cmd heading: 278.745949 deg,
new cmd heading: 278.638500 deg.
2025-06-05T06:03:39.312Z,1749103419.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.863159 target range: 21.032400 and range: 21.20 m.
2025-06-05T06:03:39.354Z,1749103419.354 [DAT](INFO): DAT read: 06:03:37.4014 LVL= 19520, 22161, 18466, 28339, AGC= 55, IDX= 415, 0.46, 2.179, 0.668, 2.154, 1.567, PHS= 0.700,-0.852, 0.583, RAW= 146.1, -5.8, CAL= 151.6, -14.6, ROT= 358.4, 14.6
2025-06-05T06:03:39.356Z,1749103419.356 [DAT](INFO): got valid direction response:
06:03:37.4014 LVL= 19520, 22161, 18466, 28339, AGC= 55, IDX= 415, 0.46, 2.179, 0.668, 2.154, 1.567, PHS= 0.700,-0.852, 0.583, RAW= 146.1, -5.8, CAL= 151.6, -14.6, ROT= 358.4, 14.6
2025-06-05T06:03:39.357Z,1749103419.357 [DAT](INFO): DAT read: Bearing 358.4, 14.6 (Local)
2025-06-05T06:03:39.358Z,1749103419.358 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.4, 14.6 (Local)
2025-06-05T06:03:39.361Z,1749103419.361 [DAT](INFO): DAT read: Range 10 to 50 : 18.9 m (Round-trip 25.3 ms) speed 0.4 m/s
2025-06-05T06:03:39.363Z,1749103419.363 [DAT](INFO): DAT read: user:642>
2025-06-05T06:03:39.364Z,1749103419.364 [DAT](INFO): DAT read: Tx time:06:03:38.5219
2025-06-05T06:03:39.364Z,1749103419.364 [DAT](INFO): Ping request sent.
2025-06-05T06:03:39.365Z,1749103419.365 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:39.365Z,1749103419.365 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-05T06:03:39.367Z,1749103419.367 [DAT](INFO): direction in FSK: [0.967332,-0.027020,-0.252069]
2025-06-05T06:03:39.367Z,1749103419.367 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:39.368Z,1749103419.368 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:39.380Z,1749103419.380 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:39.380Z,1749103419.380 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:39.399Z,1749103419.399 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.035046
2025-06-05T06:03:39.599Z,1749103419.599 [DAT](INFO): DAT read: TxSync time:06:03:38.5211
2025-06-05T06:03:39.601Z,1749103419.601 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.236051
2025-06-05T06:03:39.847Z,1749103419.847 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.482993
2025-06-05T06:03:39.851Z,1749103419.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.900000 m,
deltaT: 3.532235 s,
deltaX: -2.300001 m,
approachRate: -0.651146 m/s,
rangeRepo size: 4
2025-06-05T06:03:39.853Z,1749103419.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.750568 m,
bearing: 280.058445 deg,
lat: 36.906116 deg,
lon: -122.116057 deg,
deltaT: 3.532235 s,
deltaX: -2.281832 m,
approachRate: -0.646002 m/s,
posRepo size: 4
2025-06-05T06:03:39.854Z,1749103419.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-05T06:03:39.866Z,1749103419.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.750568 m,
nav range: 19.012913 m,
bearing: 279.226630 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.104382 deg/s,
cmd heading: 278.638496 deg,
new cmd heading: 278.469609 deg.
2025-06-05T06:03:39.867Z,1749103419.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860211 target range: 18.750568 and range: 18.90 m.
2025-06-05T06:03:40.099Z,1749103420.099 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.734830
2025-06-05T06:03:40.200Z,1749103420.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-05T06:03:40.203Z,1749103420.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.750568 m,
nav range: 18.799515 m,
bearing: 279.241273 deg,
approach rate: -0.602151 m/s,
LOS rate: 0.041788 deg/s,
cmd heading: 278.469599 deg,
new cmd heading: 278.514027 deg.
2025-06-05T06:03:40.204Z,1749103420.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860987 target range: 18.750568 and range: 18.90 m.
2025-06-05T06:03:40.351Z,1749103420.351 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.986991
2025-06-05T06:03:40.586Z,1749103420.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-05T06:03:40.589Z,1749103420.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.750568 m,
nav range: 18.575792 m,
bearing: 279.258378 deg,
approach rate: -0.579433 m/s,
LOS rate: 0.044836 deg/s,
cmd heading: 278.514023 deg,
new cmd heading: 278.565957 deg.
2025-06-05T06:03:40.590Z,1749103420.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.861893 target range: 18.750568 and range: 18.90 m.
2025-06-05T06:03:40.603Z,1749103420.603 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.238807
2025-06-05T06:03:40.855Z,1749103420.855 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.490780
2025-06-05T06:03:41.049Z,1749103421.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-05T06:03:41.056Z,1749103421.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.750568 m,
nav range: 18.300648 m,
bearing: 279.304013 deg,
approach rate: -0.594961 m/s,
LOS rate: 0.100162 deg/s,
cmd heading: 278.565959 deg,
new cmd heading: 278.704921 deg.
2025-06-05T06:03:41.057Z,1749103421.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.864318 target range: 18.750568 and range: 18.90 m.
2025-06-05T06:03:41.107Z,1749103421.107 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.742928
2025-06-05T06:03:41.360Z,1749103421.360 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.996164
2025-06-05T06:03:41.413Z,1749103421.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:41.415Z,1749103421.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-05T06:03:41.418Z,1749103421.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.750568 m,
nav range: 18.073799 m,
bearing: 279.344475 deg,
approach rate: -0.618600 m/s,
LOS rate: 0.111724 deg/s,
cmd heading: 278.704913 deg,
new cmd heading: 278.827824 deg.
2025-06-05T06:03:41.419Z,1749103421.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866464 target range: 18.750568 and range: 18.90 m.
2025-06-05T06:03:41.611Z,1749103421.611 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.246725
2025-06-05T06:03:41.827Z,1749103421.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-05T06:03:41.830Z,1749103421.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.750568 m,
nav range: 17.816149 m,
bearing: 279.406545 deg,
approach rate: -0.625238 m/s,
LOS rate: 0.152802 deg/s,
cmd heading: 278.827829 deg,
new cmd heading: 279.016730 deg.
2025-06-05T06:03:41.831Z,1749103421.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869761 target range: 18.750568 and range: 18.90 m.
2025-06-05T06:03:41.863Z,1749103421.863 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.498900
2025-06-05T06:03:42.115Z,1749103422.115 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.751042
2025-06-05T06:03:42.209Z,1749103422.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-05T06:03:42.213Z,1749103422.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.750568 m,
nav range: 17.577736 m,
bearing: 279.467744 deg,
approach rate: -0.625912 m/s,
LOS rate: 0.162845 deg/s,
cmd heading: 279.016725 deg,
new cmd heading: 279.202810 deg.
2025-06-05T06:03:42.214Z,1749103422.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873008 target range: 18.750568 and range: 18.90 m.
2025-06-05T06:03:42.367Z,1749103422.367 [DAT](INFO): DAT read: Rx Time:06:03:40.9488
2025-06-05T06:03:42.368Z,1749103422.368 [DAT](INFO): Rx dataTimestamp_ set to:1749103422.367341
2025-06-05T06:03:42.368Z,1749103422.368 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.003847
2025-06-05T06:03:42.619Z,1749103422.619 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.254806
2025-06-05T06:03:42.623Z,1749103422.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-05T06:03:42.625Z,1749103422.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.750568 m,
nav range: 17.329218 m,
bearing: 279.535638 deg,
approach rate: -0.624196 m/s,
LOS rate: 0.172974 deg/s,
cmd heading: 279.202806 deg,
new cmd heading: 279.409410 deg.
2025-06-05T06:03:42.631Z,1749103422.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876614 target range: 18.750568 and range: 18.90 m.
2025-06-05T06:03:42.878Z,1749103422.878 [DAT](INFO): DAT read: 06:03:40.9488 LVL= 17856, 19169, 15698, 24211, AGC= 55, IDX= 421,-0.23,-0.423,-1.951,-0.513,-1.094, PHS= 0.759,-0.810, 0.578, RAW= 144.0, -7.1, CAL= 150.0, -16.2, ROT= 360.0, 16.2
2025-06-05T06:03:42.879Z,1749103422.879 [DAT](INFO): got valid direction response:
06:03:40.9488 LVL= 17856, 19169, 15698, 24211, AGC= 55, IDX= 421,-0.23,-0.423,-1.951,-0.513,-1.094, PHS= 0.759,-0.810, 0.578, RAW= 144.0, -7.1, CAL= 150.0, -16.2, ROT= 360.0, 16.2
2025-06-05T06:03:42.880Z,1749103422.880 [DAT](INFO): DAT read: Bearing 360.0, 16.2 (Local)
2025-06-05T06:03:42.880Z,1749103422.880 [DAT](INFO): Local bearing/azimuth received:
Bearing 360.0, 16.2 (Local)
2025-06-05T06:03:42.882Z,1749103422.882 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (Round-trip 22.7 ms) speed 0.5 m/s
2025-06-05T06:03:42.887Z,1749103422.887 [DAT](INFO): DAT read: user:643>
2025-06-05T06:03:42.889Z,1749103422.889 [DAT](INFO): DAT read: Tx time:06:03:42.0719
2025-06-05T06:03:42.889Z,1749103422.889 [DAT](INFO): Ping request sent.
2025-06-05T06:03:42.889Z,1749103422.889 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:42.889Z,1749103422.889 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-05T06:03:42.891Z,1749103422.891 [DAT](INFO): direction in FSK: [0.960294,0.000000,-0.278991]
2025-06-05T06:03:42.891Z,1749103422.891 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:42.891Z,1749103422.891 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:42.896Z,1749103422.896 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:42.896Z,1749103422.896 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:42.902Z,1749103422.902 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.012538
2025-06-05T06:03:43.121Z,1749103423.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.000000 m,
deltaT: 3.526337 s,
deltaX: -1.900000 m,
approachRate: -0.538803 m/s,
rangeRepo size: 4
2025-06-05T06:03:43.123Z,1749103423.123 [DAT](INFO): DAT read: TxSync time:06:03:42.0711
2025-06-05T06:03:43.124Z,1749103423.124 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.235129
2025-06-05T06:03:43.128Z,1749103423.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.865425 m,
bearing: 280.429308 deg,
lat: 36.906118 deg,
lon: -122.116054 deg,
deltaT: 3.526337 s,
deltaX: -1.885143 m,
approachRate: -0.534590 m/s,
posRepo size: 4
2025-06-05T06:03:43.129Z,1749103423.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.87 m.
2025-06-05T06:03:43.137Z,1749103423.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.865425 m,
nav range: 16.801056 m,
bearing: 280.429366 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.172974 deg/s,
cmd heading: 279.409406 deg,
new cmd heading: 279.676160 deg.
2025-06-05T06:03:43.138Z,1749103423.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881270 target range: 16.865425 and range: 17.00 m.
2025-06-05T06:03:43.376Z,1749103423.376 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.487048
2025-06-05T06:03:43.431Z,1749103423.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:43.433Z,1749103423.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.87 m.
2025-06-05T06:03:43.436Z,1749103423.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.865425 m,
nav range: 16.596006 m,
bearing: 280.516034 deg,
approach rate: -0.656516 m/s,
LOS rate: 0.280917 deg/s,
cmd heading: 279.676166 deg,
new cmd heading: 279.939381 deg.
2025-06-05T06:03:43.437Z,1749103423.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.885864 target range: 16.865425 and range: 17.00 m.
2025-06-05T06:03:43.627Z,1749103423.627 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.738066
2025-06-05T06:03:43.879Z,1749103423.879 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.989921
2025-06-05T06:03:43.897Z,1749103423.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.87 m.
2025-06-05T06:03:43.904Z,1749103423.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.865425 m,
nav range: 16.300280 m,
bearing: 280.643417 deg,
approach rate: -0.637317 m/s,
LOS rate: 0.279503 deg/s,
cmd heading: 279.939374 deg,
new cmd heading: 280.328451 deg.
2025-06-05T06:03:43.905Z,1749103423.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.892654 target range: 16.865425 and range: 17.00 m.
2025-06-05T06:03:44.131Z,1749103424.131 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.242080
2025-06-05T06:03:44.312Z,1749103424.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.87 m.
2025-06-05T06:03:44.336Z,1749103424.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.865425 m,
nav range: 16.028799 m,
bearing: 280.767892 deg,
approach rate: -0.653347 m/s,
LOS rate: 0.304636 deg/s,
cmd heading: 280.328449 deg,
new cmd heading: 280.708193 deg.
2025-06-05T06:03:44.337Z,1749103424.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.899282 target range: 16.865425 and range: 17.00 m.
2025-06-05T06:03:44.383Z,1749103424.383 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.494272
2025-06-05T06:03:44.635Z,1749103424.635 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.746090
2025-06-05T06:03:44.709Z,1749103424.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.87 m.
2025-06-05T06:03:44.712Z,1749103424.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.865425 m,
nav range: 15.786261 m,
bearing: 280.884270 deg,
approach rate: -0.611964 m/s,
LOS rate: 0.298150 deg/s,
cmd heading: 280.708180 deg,
new cmd heading: 281.062672 deg.
2025-06-05T06:03:44.719Z,1749103424.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.905469 target range: 16.865425 and range: 17.00 m.
2025-06-05T06:03:44.888Z,1749103424.888 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.998806
2025-06-05T06:03:45.128Z,1749103425.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.87 m.
2025-06-05T06:03:45.131Z,1749103425.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.865425 m,
nav range: 15.508248 m,
bearing: 281.012165 deg,
approach rate: -0.662448 m/s,
LOS rate: 0.310211 deg/s,
cmd heading: 281.062667 deg,
new cmd heading: 281.453223 deg.
2025-06-05T06:03:45.132Z,1749103425.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.912285 target range: 16.865425 and range: 17.00 m.
2025-06-05T06:03:45.139Z,1749103425.139 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.250196
2025-06-05T06:03:45.391Z,1749103425.391 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.502096
2025-06-05T06:03:45.532Z,1749103425.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:45.534Z,1749103425.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.87 m.
2025-06-05T06:03:45.537Z,1749103425.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.865425 m,
nav range: 15.250279 m,
bearing: 281.134336 deg,
approach rate: -0.636476 m/s,
LOS rate: 0.306527 deg/s,
cmd heading: 281.453217 deg,
new cmd heading: 281.825925 deg.
2025-06-05T06:03:45.537Z,1749103425.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.918790 target range: 16.865425 and range: 17.00 m.
2025-06-05T06:03:45.643Z,1749103425.643 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.754141
2025-06-05T06:03:45.663Z,1749103425.663 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T06:03:45.895Z,1749103425.895 [DAT](INFO): DAT read: Rx Time:06:03:44.4958
2025-06-05T06:03:45.896Z,1749103425.896 [DAT](INFO): Rx dataTimestamp_ set to:1749103425.895451
2025-06-05T06:03:45.896Z,1749103425.896 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.007245
2025-06-05T06:03:45.907Z,1749103425.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.87 m.
2025-06-05T06:03:45.944Z,1749103425.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.865425 m,
nav range: 15.011937 m,
bearing: 281.227080 deg,
approach rate: -0.638448 m/s,
LOS rate: 0.252378 deg/s,
cmd heading: 281.825927 deg,
new cmd heading: 282.108574 deg.
2025-06-05T06:03:45.945Z,1749103425.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.923724 target range: 16.865425 and range: 17.00 m.
2025-06-05T06:03:46.132Z,1749103426.132 [RudderServo](ERROR): getPosition uart error serial timeout
2025-06-05T06:03:46.132Z,1749103426.132 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2025-06-05T06:03:46.132Z,1749103426.132 [RudderServo] Communications Fault, FailCount= 1
2025-06-05T06:03:46.135Z,1749103426.135 [RudderServo](ERROR): Communications Fault
2025-06-05T06:03:46.147Z,1749103426.147 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.258264
2025-06-05T06:03:46.196Z,1749103426.196 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-06-05T06:03:46.315Z,1749103426.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.87 m.
2025-06-05T06:03:46.318Z,1749103426.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.865425 m,
nav range: 14.761057 m,
bearing: 281.326080 deg,
approach rate: -0.615094 m/s,
LOS rate: 0.246847 deg/s,
cmd heading: 282.108587 deg,
new cmd heading: 282.410632 deg.
2025-06-05T06:03:46.319Z,1749103426.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.928995 target range: 16.865425 and range: 17.00 m.
2025-06-05T06:03:46.407Z,1749103426.407 [DAT](INFO): DAT read: 06:03:44.4958 LVL= 19744, 22705, 18834, 29139, AGC= 52, IDX= 406,-0.36, 1.037,-0.475, 0.830, 0.350, PHS= 0.775,-0.778, 0.477, RAW= 139.6, -6.7, CAL= 145.6, -16.5, ROT= 4.4, 16.5
2025-06-05T06:03:46.409Z,1749103426.409 [DAT](INFO): got valid direction response:
06:03:44.4958 LVL= 19744, 22705, 18834, 29139, AGC= 52, IDX= 406,-0.36, 1.037,-0.475, 0.830, 0.350, PHS= 0.775,-0.778, 0.477, RAW= 139.6, -6.7, CAL= 145.6, -16.5, ROT= 4.4, 16.5
2025-06-05T06:03:46.416Z,1749103426.416 [DAT](INFO): DAT read: Bearing 4.4, 16.5 (Local)
2025-06-05T06:03:46.416Z,1749103426.416 [DAT](INFO): Local bearing/azimuth received:
Bearing 4.4, 16.5 (Local)
2025-06-05T06:03:46.418Z,1749103426.418 [DAT](INFO): DAT read: Range 10 to 50 : 14.7 m (Round-trip 19.7 ms) speed 0.7 m/s
2025-06-05T06:03:46.419Z,1749103426.419 [DAT](INFO): DAT read: user:644>
2025-06-05T06:03:46.420Z,1749103426.420 [DAT](INFO): DAT read: Tx time:06:03:45.6219
2025-06-05T06:03:46.420Z,1749103426.420 [DAT](INFO): Ping request sent.
2025-06-05T06:03:46.420Z,1749103426.420 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:46.421Z,1749103426.421 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-05T06:03:46.422Z,1749103426.422 [DAT](INFO): direction in FSK: [0.955994,0.073560,-0.284015]
2025-06-05T06:03:46.422Z,1749103426.422 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:46.423Z,1749103426.423 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:46.428Z,1749103426.428 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:46.428Z,1749103426.428 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:46.431Z,1749103426.431 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.011025
2025-06-05T06:03:46.434Z,1749103426.434 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-06-05T06:03:46.434Z,1749103426.434 [RudderServo](INFO): Powering down
2025-06-05T06:03:46.651Z,1749103426.651 [DAT](INFO): DAT read: TxSync time:06:03:45.6211
2025-06-05T06:03:46.652Z,1749103426.652 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.231728
2025-06-05T06:03:46.742Z,1749103426.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.700000 m,
deltaT: 3.528625 s,
deltaX: -2.300000 m,
approachRate: -0.651812 m/s,
rangeRepo size: 4
2025-06-05T06:03:46.767Z,1749103426.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.583558 m,
bearing: 284.710202 deg,
lat: 36.906118 deg,
lon: -122.116053 deg,
deltaT: 3.528625 s,
deltaX: -2.281867 m,
approachRate: -0.646673 m/s,
posRepo size: 4
2025-06-05T06:03:46.770Z,1749103426.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.58 m.
2025-06-05T06:03:46.797Z,1749103426.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.583558 m,
nav range: 14.465338 m,
bearing: 281.578604 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.246847 deg/s,
cmd heading: 282.410618 deg,
new cmd heading: 282.726274 deg.
2025-06-05T06:03:46.805Z,1749103426.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.934505 target range: 14.583558 and range: 14.70 m.
2025-06-05T06:03:46.903Z,1749103426.903 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.482937
2025-06-05T06:03:47.155Z,1749103427.155 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.735054
2025-06-05T06:03:47.177Z,1749103427.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.58 m.
2025-06-05T06:03:47.180Z,1749103427.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.583558 m,
nav range: 14.182177 m,
bearing: 281.711021 deg,
approach rate: -0.649128 m/s,
LOS rate: 0.309617 deg/s,
cmd heading: 282.726282 deg,
new cmd heading: 283.131457 deg.
2025-06-05T06:03:47.181Z,1749103427.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.941576 target range: 14.583558 and range: 14.70 m.
2025-06-05T06:03:47.280Z,1749103427.280 [RudderServo](DEBUG): Initializing EZServoServo.
2025-06-05T06:03:47.399Z,1749103427.399 [RudderServo](DEBUG): Initializing RudderServo.
2025-06-05T06:03:47.407Z,1749103427.407 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.986825
2025-06-05T06:03:47.434Z,1749103427.434 [CBIT](INFO): Clearing failed state for component RudderServo
2025-06-05T06:03:47.434Z,1749103427.434 [RudderServo] No Fault, FailCount= 1
2025-06-05T06:03:47.590Z,1749103427.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:47.595Z,1749103427.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.58 m.
2025-06-05T06:03:47.597Z,1749103427.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.583558 m,
nav range: 13.944910 m,
bearing: 281.826146 deg,
approach rate: -0.569222 m/s,
LOS rate: 0.280893 deg/s,
cmd heading: 283.131449 deg,
new cmd heading: 283.482695 deg.
2025-06-05T06:03:47.598Z,1749103427.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.947706 target range: 14.583558 and range: 14.70 m.
2025-06-05T06:03:47.663Z,1749103427.663 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.241205
2025-06-05T06:03:47.911Z,1749103427.911 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.491097
2025-06-05T06:03:48.006Z,1749103428.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.58 m.
2025-06-05T06:03:48.013Z,1749103428.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.583558 m,
nav range: 13.695038 m,
bearing: 281.931552 deg,
approach rate: -0.606890 m/s,
LOS rate: 0.260681 deg/s,
cmd heading: 283.482685 deg,
new cmd heading: 283.804669 deg.
2025-06-05T06:03:48.018Z,1749103428.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.953326 target range: 14.583558 and range: 14.70 m.
2025-06-05T06:03:48.163Z,1749103428.163 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.742922
2025-06-05T06:03:48.355Z,1749103428.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.58 m.
2025-06-05T06:03:48.358Z,1749103428.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.583558 m,
nav range: 13.487772 m,
bearing: 282.017728 deg,
approach rate: -0.593747 m/s,
LOS rate: 0.250660 deg/s,
cmd heading: 283.804660 deg,
new cmd heading: 284.067160 deg.
2025-06-05T06:03:48.360Z,1749103428.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.957907 target range: 14.583558 and range: 14.70 m.
2025-06-05T06:03:48.416Z,1749103428.416 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.995638
2025-06-05T06:03:48.667Z,1749103428.667 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.246741
2025-06-05T06:03:48.879Z,1749103428.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.58 m.
2025-06-05T06:03:48.881Z,1749103428.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.583558 m,
nav range: 13.240328 m,
bearing: 282.118524 deg,
approach rate: -0.476700 m/s,
LOS rate: 0.197812 deg/s,
cmd heading: 284.067158 deg,
new cmd heading: 284.375194 deg.
2025-06-05T06:03:48.887Z,1749103428.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.963284 target range: 14.583558 and range: 14.70 m.
2025-06-05T06:03:48.922Z,1749103428.922 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.501611
2025-06-05T06:03:49.171Z,1749103429.171 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.750782
2025-06-05T06:03:49.187Z,1749103429.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.58 m.
2025-06-05T06:03:49.190Z,1749103429.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.583558 m,
nav range: 13.008963 m,
bearing: 282.211462 deg,
approach rate: -0.739122 m/s,
LOS rate: 0.302182 deg/s,
cmd heading: 284.375199 deg,
new cmd heading: 284.658970 deg.
2025-06-05T06:03:49.196Z,1749103429.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.968236 target range: 14.583558 and range: 14.70 m.
2025-06-05T06:03:49.424Z,1749103429.424 [DAT](INFO): DAT read: Rx Time:06:03:48.0424
2025-06-05T06:03:49.424Z,1749103429.424 [DAT](INFO): Rx dataTimestamp_ set to:1749103429.423919
2025-06-05T06:03:49.426Z,1749103429.426 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.004790
2025-06-05T06:03:49.592Z,1749103429.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:49.600Z,1749103429.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.58 m.
2025-06-05T06:03:49.612Z,1749103429.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.583558 m,
nav range: 12.768601 m,
bearing: 282.306307 deg,
approach rate: -0.581725 m/s,
LOS rate: 0.233865 deg/s,
cmd heading: 284.658980 deg,
new cmd heading: 284.948868 deg.
2025-06-05T06:03:49.613Z,1749103429.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.973296 target range: 14.583558 and range: 14.70 m.
2025-06-05T06:03:49.677Z,1749103429.677 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.256020
2025-06-05T06:03:49.944Z,1749103429.944 [DAT](INFO): DAT read: 06:03:48.0424 LVL= 17376, 24625, 15842, 28131, AGC= 54, IDX= 403, 0.47, 1.968, 0.461, 1.729, 1.270, PHS= 0.786,-0.762, 0.456, RAW= 138.3, -6.9, CAL= 144.3, -17.0, ROT= 5.7, 17.0
2025-06-05T06:03:49.945Z,1749103429.945 [DAT](INFO): got valid direction response:
06:03:48.0424 LVL= 17376, 24625, 15842, 28131, AGC= 54, IDX= 403, 0.47, 1.968, 0.461, 1.729, 1.270, PHS= 0.786,-0.762, 0.456, RAW= 138.3, -6.9, CAL= 144.3, -17.0, ROT= 5.7, 17.0
2025-06-05T06:03:49.946Z,1749103429.946 [DAT](INFO): DAT read: Bearing 5.7, 17.0 (Local)
2025-06-05T06:03:49.947Z,1749103429.947 [DAT](INFO): Local bearing/azimuth received:
Bearing 5.7, 17.0 (Local)
2025-06-05T06:03:49.948Z,1749103429.948 [DAT](INFO): DAT read: Range 10 to 50 : 12.3 m (Round-trip 16.4 ms) speed 0.4 m/s
2025-06-05T06:03:49.949Z,1749103429.949 [DAT](INFO): DAT read: user:645>
2025-06-05T06:03:49.949Z,1749103429.949 [DAT](INFO): DAT read: Tx time:06:03:49.1219
2025-06-05T06:03:49.950Z,1749103429.950 [DAT](INFO): Ping request sent.
2025-06-05T06:03:49.950Z,1749103429.950 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:49.950Z,1749103429.950 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-05T06:03:49.951Z,1749103429.951 [DAT](INFO): direction in FSK: [0.951576,0.094980,-0.292372]
2025-06-05T06:03:49.951Z,1749103429.951 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:49.952Z,1749103429.952 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:49.955Z,1749103429.955 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:49.955Z,1749103429.955 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:49.963Z,1749103429.963 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.012890
2025-06-05T06:03:50.140Z,1749103430.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 3.528581 s,
deltaX: -2.400000 m,
approachRate: -0.680160 m/s,
rangeRepo size: 4
2025-06-05T06:03:50.151Z,1749103430.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.202387 m,
bearing: 288.111544 deg,
lat: 36.906123 deg,
lon: -122.116053 deg,
deltaT: 3.528581 s,
deltaX: -2.381171 m,
approachRate: -0.674824 m/s,
posRepo size: 4
2025-06-05T06:03:50.152Z,1749103430.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-06-05T06:03:50.161Z,1749103430.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.202387 m,
nav range: 12.556587 m,
bearing: 284.748242 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.233865 deg/s,
cmd heading: 284.948881 deg,
new cmd heading: 285.327270 deg.
2025-06-05T06:03:50.162Z,1749103430.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.979900 target range: 12.202387 and range: 12.30 m.
2025-06-05T06:03:50.179Z,1749103430.179 [DAT](INFO): DAT read: TxSync time:06:03:49.1211
2025-06-05T06:03:50.180Z,1749103430.180 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.230215
2025-06-05T06:03:50.423Z,1749103430.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-06-05T06:03:50.431Z,1749103430.431 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.481452
2025-06-05T06:03:50.433Z,1749103430.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.202387 m,
nav range: 12.390175 m,
bearing: 284.816544 deg,
approach rate: -0.587131 m/s,
LOS rate: 0.244219 deg/s,
cmd heading: 285.327273 deg,
new cmd heading: 285.534931 deg.
2025-06-05T06:03:50.433Z,1749103430.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.983525 target range: 12.202387 and range: 12.30 m.
2025-06-05T06:03:50.683Z,1749103430.683 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.733231
2025-06-05T06:03:50.790Z,1749103430.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-06-05T06:03:50.795Z,1749103430.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.202387 m,
nav range: 12.186110 m,
bearing: 284.898862 deg,
approach rate: -0.557969 m/s,
LOS rate: 0.228849 deg/s,
cmd heading: 285.534938 deg,
new cmd heading: 285.786025 deg.
2025-06-05T06:03:50.797Z,1749103430.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.987907 target range: 12.202387 and range: 12.30 m.
2025-06-05T06:03:50.935Z,1749103430.935 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.985424
2025-06-05T06:03:51.187Z,1749103431.187 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.237384
2025-06-05T06:03:51.220Z,1749103431.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-06-05T06:03:51.223Z,1749103431.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.202387 m,
nav range: 11.939408 m,
bearing: 285.005469 deg,
approach rate: -0.571377 m/s,
LOS rate: 0.252011 deg/s,
cmd heading: 285.786016 deg,
new cmd heading: 286.112443 deg.
2025-06-05T06:03:51.224Z,1749103431.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993604 target range: 12.202387 and range: 12.30 m.
2025-06-05T06:03:51.441Z,1749103431.441 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.490959
2025-06-05T06:03:51.614Z,1749103431.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:51.616Z,1749103431.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-06-05T06:03:51.619Z,1749103431.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.202387 m,
nav range: 11.718581 m,
bearing: 285.104719 deg,
approach rate: -0.558019 m/s,
LOS rate: 0.255524 deg/s,
cmd heading: 286.112444 deg,
new cmd heading: 286.415800 deg.
2025-06-05T06:03:51.620Z,1749103431.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998899 target range: 12.202387 and range: 12.30 m.
2025-06-05T06:03:51.698Z,1749103431.698 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.747896
2025-06-05T06:03:51.947Z,1749103431.947 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.997323
2025-06-05T06:03:52.023Z,1749103432.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-06-05T06:03:52.028Z,1749103432.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.202387 m,
nav range: 11.478522 m,
bearing: 285.196435 deg,
approach rate: -0.590080 m/s,
LOS rate: 0.230159 deg/s,
cmd heading: 286.415787 deg,
new cmd heading: 286.696687 deg.
2025-06-05T06:03:52.029Z,1749103432.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003801 target range: 12.202387 and range: 12.30 m.
2025-06-05T06:03:52.200Z,1749103432.200 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.250014
2025-06-05T06:03:52.417Z,1749103432.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-06-05T06:03:52.421Z,1749103432.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.202387 m,
nav range: 11.248053 m,
bearing: 285.288182 deg,
approach rate: -0.584529 m/s,
LOS rate: 0.237462 deg/s,
cmd heading: 286.696699 deg,
new cmd heading: 286.977578 deg.
2025-06-05T06:03:52.421Z,1749103432.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.008704 target range: 12.202387 and range: 12.30 m.
2025-06-05T06:03:52.451Z,1749103432.451 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.501196
2025-06-05T06:03:52.703Z,1749103432.703 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.753319
2025-06-05T06:03:52.824Z,1749103432.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-06-05T06:03:52.828Z,1749103432.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.202387 m,
nav range: 11.020958 m,
bearing: 285.366844 deg,
approach rate: -0.558957 m/s,
LOS rate: 0.197603 deg/s,
cmd heading: 286.977583 deg,
new cmd heading: 287.218431 deg.
2025-06-05T06:03:52.831Z,1749103432.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.012908 target range: 12.202387 and range: 12.30 m.
2025-06-05T06:03:52.955Z,1749103432.955 [DAT](INFO): DAT read: Rx Time:06:03:51.5400
2025-06-05T06:03:52.956Z,1749103432.956 [DAT](INFO): Rx dataTimestamp_ set to:1749103432.955518
2025-06-05T06:03:52.956Z,1749103432.956 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.006552
2025-06-05T06:03:53.211Z,1749103433.211 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.260977
2025-06-05T06:03:53.380Z,1749103433.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-06-05T06:03:53.403Z,1749103433.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.202387 m,
nav range: 10.679092 m,
bearing: 285.491772 deg,
approach rate: -0.614605 m/s,
LOS rate: 0.231784 deg/s,
cmd heading: 287.218443 deg,
new cmd heading: 287.605218 deg.
2025-06-05T06:03:53.404Z,1749103433.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.019658 target range: 12.202387 and range: 12.30 m.
2025-06-05T06:03:53.467Z,1749103433.467 [DAT](INFO): DAT read: 06:03:51.5400 LVL= 16880, 26833, 15506, 28947, AGC= 50, IDX= 409, 0.39,-1.587,-3.058,-1.708,-2.252, PHS= 0.753,-0.759, 0.541, RAW= 142.6, -7.6, CAL= 148.9, -16.9, ROT= 1.1, 16.9
2025-06-05T06:03:53.468Z,1749103433.468 [DAT](INFO): got valid direction response:
06:03:51.5400 LVL= 16880, 26833, 15506, 28947, AGC= 50, IDX= 409, 0.39,-1.587,-3.058,-1.708,-2.252, PHS= 0.753,-0.759, 0.541, RAW= 142.6, -7.6, CAL= 148.9, -16.9, ROT= 1.1, 16.9
2025-06-05T06:03:53.469Z,1749103433.469 [DAT](INFO): DAT read: Bearing 1.1, 16.9 (Local)
2025-06-05T06:03:53.470Z,1749103433.470 [DAT](INFO): Local bearing/azimuth received:
Bearing 1.1, 16.9 (Local)
2025-06-05T06:03:53.489Z,1749103433.489 [DAT](INFO): DAT read: Range 10 to 50 : 10.3 m (Round-trip 13.8 ms) speed 0.4 m/s
2025-06-05T06:03:53.503Z,1749103433.503 [DAT](INFO): DAT read: user:646>
2025-06-05T06:03:53.504Z,1749103433.504 [DAT](INFO): DAT read: Tx time:06:03:52.6220
2025-06-05T06:03:53.505Z,1749103433.505 [DAT](INFO): Ping request sent.
2025-06-05T06:03:53.505Z,1749103433.505 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:03:53.511Z,1749103433.511 [DAT](INFO): DAT read: TxSync time:06:03:52.6212
2025-06-05T06:03:53.512Z,1749103433.512 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-05T06:03:53.527Z,1749103433.527 [DAT](INFO): direction in FSK: [0.956637,0.018368,-0.290702]
2025-06-05T06:03:53.528Z,1749103433.528 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:53.528Z,1749103433.528 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:53.536Z,1749103433.536 [DAT](INFO): publishing transmit ping time
2025-06-05T06:03:53.536Z,1749103433.536 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:53.568Z,1749103433.568 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.057180
2025-06-05T06:03:53.711Z,1749103433.711 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.206493
2025-06-05T06:03:53.823Z,1749103433.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.300000 m,
deltaT: 3.533040 s,
deltaX: -2.000000 m,
approachRate: -0.566085 m/s,
rangeRepo size: 4
2025-06-05T06:03:53.832Z,1749103433.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.218100 m,
bearing: 286.631125 deg,
lat: 36.906123 deg,
lon: -122.116052 deg,
deltaT: 3.533040 s,
deltaX: -1.984287 m,
approachRate: -0.561637 m/s,
posRepo size: 4
2025-06-05T06:03:53.838Z,1749103433.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.22 m.
2025-06-05T06:03:53.841Z,1749103433.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.218100 m,
nav range: 10.405100 m,
bearing: 286.251041 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.231784 deg/s,
cmd heading: 287.605223 deg,
new cmd heading: 287.913275 deg.
2025-06-05T06:03:53.854Z,1749103433.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025034 target range: 10.218100 and range: 10.30 m.
2025-06-05T06:03:53.966Z,1749103433.966 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.460571
2025-06-05T06:03:54.215Z,1749103434.215 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.710301
2025-06-05T06:03:54.426Z,1749103434.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:03:54.434Z,1749103434.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.22 m.
2025-06-05T06:03:54.445Z,1749103434.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.218100 m,
nav range: 10.014378 m,
bearing: 286.421069 deg,
approach rate: -0.644155 m/s,
LOS rate: 0.291248 deg/s,
cmd heading: 287.913265 deg,
new cmd heading: 288.443234 deg.
2025-06-05T06:03:54.451Z,1749103434.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.034284 target range: 10.218100 and range: 10.30 m.
2025-06-05T06:03:54.467Z,1749103434.467 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.962418
2025-06-05T06:03:54.720Z,1749103434.720 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.215159
2025-06-05T06:03:54.831Z,1749103434.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.22 m.
2025-06-05T06:03:54.834Z,1749103434.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.218100 m,
nav range: 9.756783 m,
bearing: 286.540636 deg,
approach rate: -0.640925 m/s,
LOS rate: 0.305353 deg/s,
cmd heading: 288.443233 deg,
new cmd heading: 288.811400 deg.
2025-06-05T06:03:54.835Z,1749103434.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.040710 target range: 10.218100 and range: 10.30 m.
2025-06-05T06:03:54.972Z,1749103434.972 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.467599
2025-06-05T06:03:55.223Z,1749103435.223 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.718339
2025-06-05T06:03:55.247Z,1749103435.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.22 m.
2025-06-05T06:03:55.250Z,1749103435.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.218100 m,
nav range: 9.498520 m,
bearing: 286.649181 deg,
approach rate: -0.621316 m/s,
LOS rate: 0.268230 deg/s,
cmd heading: 288.811407 deg,
new cmd heading: 289.145890 deg.
2025-06-05T06:03:55.251Z,1749103435.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.046548 target range: 10.218100 and range: 10.30 m.
2025-06-05T06:03:55.476Z,1749103435.476 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.970943
2025-06-05T06:03:55.622Z,1749103435.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.22 m.
2025-06-05T06:03:55.630Z,1749103435.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.218100 m,
nav range: 9.269568 m,
bearing: 286.743047 deg,
approach rate: -0.610733 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 289.145895 deg,
new cmd heading: 289.434448 deg.
2025-06-05T06:03:55.631Z,1749103435.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051584 target range: 10.218100 and range: 10.30 m.
2025-06-05T06:03:55.728Z,1749103435.728 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.223487
2025-06-05T06:03:55.983Z,1749103435.983 [DAT](INFO): DAT read: Rx Time:06:03:54.7624
2025-06-05T06:03:55.984Z,1749103435.984 [DAT](INFO): Rx dataTimestamp_ set to:1749103435.983015
2025-06-05T06:03:55.987Z,1749103435.987 [DAT](INFO): DAT read: Bearing 356.6, 13.6 (Local)
2025-06-05T06:03:55.988Z,1749103435.988 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.6, 13.6 (Local)
2025-06-05T06:03:55.993Z,1749103435.993 [DAT](INFO): DAT read: Range 10 to 50 : 8.4 m (trip time 5.6 ms) speed 0.6
2025-06-05T06:03:56.011Z,1749103436.011 [DAT](INFO): DAT read: 06:03:54.7624 LVL= 18064, 18881, 16130, 25315, AGC= 51, IDX= 159,-0.01, 1.502, 0.033, 1.546, 0.948, PHS= 0.642,-0.868, 0.595, RAW= 148.4, -5.0, CAL= 153.4, -13.6, ROT= 356.6, 13.6
2025-06-05T06:03:56.012Z,1749103436.012 [DAT](INFO): got valid direction response:
06:03:54.7624 LVL= 18064, 18881, 16130, 25315, AGC= 51, IDX= 159,-0.01, 1.502, 0.033, 1.546, 0.948, PHS= 0.642,-0.868, 0.595, RAW= 148.4, -5.0, CAL= 153.4, -13.6, ROT= 356.6, 13.6
2025-06-05T06:03:56.012Z,1749103436.012 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-05T06:03:56.013Z,1749103436.013 [DAT](INFO): direction in FSK: [0.970250,-0.057644,-0.235142]
2025-06-05T06:03:56.014Z,1749103436.014 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:56.021Z,1749103436.021 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.516372
2025-06-05T06:03:56.167Z,1749103436.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.400000 m,
deltaT: 2.522145 s,
deltaX: -1.900001 m,
approachRate: -0.753327 m/s,
rangeRepo size: 4
2025-06-05T06:03:56.169Z,1749103436.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.333067 m,
bearing: 284.307106 deg,
lat: 36.906123 deg,
lon: -122.116049 deg,
deltaT: 2.522145 s,
deltaX: -1.885033 m,
approachRate: -0.747393 m/s,
posRepo size: 4
2025-06-05T06:03:56.170Z,1749103436.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.33 m.
2025-06-05T06:03:56.171Z,1749103436.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 8.40 m.
2025-06-05T06:03:56.171Z,1749103436.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-05T06:03:56.184Z,1749103436.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 8.695770 m,
bearing: 287.402491 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 289.434457 deg,
new cmd heading: 289.850397 deg.
2025-06-05T06:03:56.185Z,1749103436.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058844 target range: 8.333067 and range: 8.40 m.
2025-06-05T06:03:56.233Z,1749103436.233 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.728509
2025-06-05T06:03:56.485Z,1749103436.485 [DAT](INFO): DAT read: Rx Time:06:03:55.2621
2025-06-05T06:03:56.485Z,1749103436.485 [DAT](INFO): Rx dataTimestamp_ set to:1749103436.484751
2025-06-05T06:03:56.488Z,1749103436.488 [DAT](INFO): DAT read: Bearing 356.4, 13.1 (Local)
2025-06-05T06:03:56.489Z,1749103436.489 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.4, 13.1 (Local)
2025-06-05T06:03:56.492Z,1749103436.492 [DAT](INFO): DAT read: Range 10 to 50 : 8.0 m (trip time 5.3 ms) speed 0.7
2025-06-05T06:03:56.499Z,1749103436.499 [DAT](INFO): DAT read: 06:03:55.2621 LVL= 19104, 20561, 16674, 27299, AGC= 48, IDX= 508,-0.26,-0.302,-1.764,-0.244,-0.836, PHS= 0.621,-0.881, 0.588, RAW= 148.9, -4.5, CAL= 153.6, -13.1, ROT= 356.4, 13.1
2025-06-05T06:03:56.501Z,1749103436.501 [DAT](INFO): got valid direction response:
06:03:55.2621 LVL= 19104, 20561, 16674, 27299, AGC= 48, IDX= 508,-0.26,-0.302,-1.764,-0.244,-0.836, PHS= 0.621,-0.881, 0.588, RAW= 148.9, -4.5, CAL= 153.6, -13.1, ROT= 356.4, 13.1
2025-06-05T06:03:56.501Z,1749103436.501 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-05T06:03:56.516Z,1749103436.516 [DAT](INFO): direction in FSK: [0.972054,-0.061157,-0.226651]
2025-06-05T06:03:56.516Z,1749103436.516 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:56.529Z,1749103436.529 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.024090
2025-06-05T06:03:56.546Z,1749103436.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.000000 m,
deltaT: 0.501736 s,
deltaX: -0.400000 m,
approachRate: -0.797231 m/s,
rangeRepo size: 4
2025-06-05T06:03:56.549Z,1749103436.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.936255 m,
bearing: 284.301120 deg,
lat: 36.906123 deg,
lon: -122.116047 deg,
deltaT: 0.501736 s,
deltaX: -0.396812 m,
approachRate: -0.790879 m/s,
posRepo size: 4
2025-06-05T06:03:56.549Z,1749103436.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.94 m. 8.33 m.
2025-06-05T06:03:56.587Z,1749103436.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 8.471830 m,
bearing: 287.548046 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 289.850388 deg,
new cmd heading: 290.141731 deg.
2025-06-05T06:03:56.588Z,1749103436.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063929 target range: 8.333067 and range: 8.00 m.
2025-06-05T06:03:56.735Z,1749103436.735 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.230422
2025-06-05T06:03:56.796Z,1749103436.796 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:03:56.991Z,1749103436.991 [DAT](INFO): DAT read: Rx Time:06:03:55.7620
2025-06-05T06:03:56.992Z,1749103436.992 [DAT](INFO): Rx dataTimestamp_ set to:1749103436.991108
2025-06-05T06:03:56.996Z,1749103436.996 [DAT](INFO): DAT read: Bearing 356.1, 12.9 (Local)
2025-06-05T06:03:56.997Z,1749103436.997 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.1, 12.9 (Local)
2025-06-05T06:03:57.001Z,1749103437.001 [DAT](INFO): DAT read: Range 10 to 50 : 7.8 m (trip time 5.2 ms) speed 0.6
2025-06-05T06:03:57.033Z,1749103437.033 [DAT](INFO): DAT read: 06:03:55.7620 LVL= 18448, 20897, 16546, 24851, AGC= 48, IDX= 506, 0.24, 3.038, 1.538, 3.106, 2.496, PHS= 0.630,-0.911, 0.607, RAW= 149.3, -4.3, CAL= 153.9, -12.9, ROT= 356.1, 12.9
2025-06-05T06:03:57.034Z,1749103437.034 [DAT](INFO): got valid direction response:
06:03:55.7620 LVL= 18448, 20897, 16546, 24851, AGC= 48, IDX= 506, 0.24, 3.038, 1.538, 3.106, 2.496, PHS= 0.630,-0.911, 0.607, RAW= 149.3, -4.3, CAL= 153.9, -12.9, ROT= 356.1, 12.9
2025-06-05T06:03:57.042Z,1749103437.042 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-05T06:03:57.044Z,1749103437.044 [DAT](INFO): direction in FSK: [0.972504,-0.066299,-0.223250]
2025-06-05T06:03:57.044Z,1749103437.044 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:57.062Z,1749103437.062 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.556867
2025-06-05T06:03:57.102Z,1749103437.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.506357 s,
deltaX: -0.200000 m,
approachRate: -0.394978 m/s,
rangeRepo size: 4
2025-06-05T06:03:57.112Z,1749103437.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.737709 m,
bearing: 284.227336 deg,
lat: 36.906119 deg,
lon: -122.116047 deg,
deltaT: 1.008093 s,
deltaX: -0.595358 m,
approachRate: -0.590579 m/s,
posRepo size: 4
2025-06-05T06:03:57.113Z,1749103437.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.74 m. 8.33 m.
2025-06-05T06:03:57.124Z,1749103437.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 8.100758 m,
bearing: 287.802058 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 290.141737 deg,
new cmd heading: 290.572947 deg.
2025-06-05T06:03:57.127Z,1749103437.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.071455 target range: 8.333067 and range: 7.80 m.
2025-06-05T06:03:57.240Z,1749103437.240 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.735096
2025-06-05T06:03:57.494Z,1749103437.494 [DAT](INFO): DAT read: Rx Time:06:03:56.2616
2025-06-05T06:03:57.495Z,1749103437.495 [DAT](INFO): Rx dataTimestamp_ set to:1749103437.493713
2025-06-05T06:03:57.497Z,1749103437.497 [DAT](INFO): DAT read: Bearing 356.2, 12.1 (Local)
2025-06-05T06:03:57.498Z,1749103437.498 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.2, 12.1 (Local)
2025-06-05T06:03:57.501Z,1749103437.501 [DAT](INFO): DAT read: Range 10 to 50 : 7.2 m (trip time 4.8 ms) speed 0.7
2025-06-05T06:03:57.509Z,1749103437.509 [DAT](INFO): DAT read: 06:03:56.2616 LVL= 20016, 23281, 17586, 30419, AGC= 47, IDX= 503,-0.06,-0.368,-1.817,-0.293,-0.866, PHS= 0.586,-0.904, 0.571, RAW= 149.5, -3.5, CAL= 153.8, -12.1, ROT= 356.2, 12.1
2025-06-05T06:03:57.519Z,1749103437.519 [DAT](INFO): got valid direction response:
06:03:56.2616 LVL= 20016, 23281, 17586, 30419, AGC= 47, IDX= 503,-0.06,-0.368,-1.817,-0.293,-0.866, PHS= 0.586,-0.904, 0.571, RAW= 149.5, -3.5, CAL= 153.8, -12.1, ROT= 356.2, 12.1
2025-06-05T06:03:57.520Z,1749103437.520 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-05T06:03:57.521Z,1749103437.521 [DAT](INFO): direction in FSK: [0.975634,-0.064801,-0.209619]
2025-06-05T06:03:57.521Z,1749103437.521 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:57.533Z,1749103437.533 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=4.028029
2025-06-05T06:03:57.699Z,1749103437.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 0.502605 s,
deltaX: -0.600000 m,
approachRate: -1.193781 m/s,
rangeRepo size: 4
2025-06-05T06:03:57.701Z,1749103437.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.142422 m,
bearing: 284.711312 deg,
lat: 36.906118 deg,
lon: -122.116047 deg,
deltaT: 1.510698 s,
deltaX: -1.190645 m,
approachRate: -0.788142 m/s,
posRepo size: 4
2025-06-05T06:03:57.702Z,1749103437.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.14 m. 8.33 m.
2025-06-05T06:03:57.714Z,1749103437.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 7.715228 m,
bearing: 288.068103 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 290.572940 deg,
new cmd heading: 291.026165 deg.
2025-06-05T06:03:57.715Z,1749103437.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.079365 target range: 8.333067 and range: 7.20 m.
2025-06-05T06:03:57.745Z,1749103437.745 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=4.239768
2025-06-05T06:03:57.800Z,1749103437.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:03:57.997Z,1749103437.997 [DAT](INFO): DAT read: Rx Time:06:03:56.7615
2025-06-05T06:03:57.998Z,1749103437.998 [DAT](INFO): Rx dataTimestamp_ set to:1749103437.997268
2025-06-05T06:03:57.000Z,1749103438.000 [DAT](INFO): DAT read: Bearing 355.9, 11.7 (Local)
2025-06-05T06:03:58.000Z,1749103438.000 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.9, 11.7 (Local)
2025-06-05T06:03:58.005Z,1749103438.005 [DAT](INFO): DAT read: Range 10 to 50 : 7.1 m (trip time 4.7 ms) speed 0.7
2025-06-05T06:03:58.021Z,1749103438.021 [DAT](INFO): DAT read: 06:03:56.7615 LVL= 20608, 24497, 17266, 31091, AGC= 47, IDX= 502,-0.48, 1.165,-0.310, 1.253, 0.672, PHS= 0.581,-0.935, 0.579, RAW= 149.9, -3.0, CAL= 154.1, -11.7, ROT= 355.9, 11.7
2025-06-05T06:03:58.039Z,1749103438.039 [DAT](INFO): got valid direction response:
06:03:56.7615 LVL= 20608, 24497, 17266, 31091, AGC= 47, IDX= 502,-0.48, 1.165,-0.310, 1.253, 0.672, PHS= 0.581,-0.935, 0.579, RAW= 149.9, -3.0, CAL= 154.1, -11.7, ROT= 355.9, 11.7
2025-06-05T06:03:58.039Z,1749103438.039 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-05T06:03:58.040Z,1749103438.040 [DAT](INFO): direction in FSK: [0.976717,-0.070012,-0.202787]
2025-06-05T06:03:58.040Z,1749103438.040 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:58.049Z,1749103438.049 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=4.543802
2025-06-05T06:03:58.247Z,1749103438.247 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=4.742407
2025-06-05T06:03:58.252Z,1749103438.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.100000 m,
deltaT: 0.503555 s,
deltaX: -0.100000 m,
approachRate: -0.198588 m/s,
rangeRepo size: 4
2025-06-05T06:03:58.260Z,1749103438.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.043221 m,
bearing: 284.632658 deg,
lat: 36.906118 deg,
lon: -122.116047 deg,
deltaT: 2.014253 s,
deltaX: -1.289845 m,
approachRate: -0.640359 m/s,
posRepo size: 4
2025-06-05T06:03:58.261Z,1749103438.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.04 m. 8.33 m.
2025-06-05T06:03:58.272Z,1749103438.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 7.365968 m,
bearing: 288.370505 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 291.026164 deg,
new cmd heading: 291.458722 deg.
2025-06-05T06:03:58.273Z,1749103438.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.086915 target range: 8.333067 and range: 7.10 m.
2025-06-05T06:03:58.501Z,1749103438.501 [DAT](INFO): DAT read: Rx Time:06:03:57.2611
2025-06-05T06:03:58.501Z,1749103438.501 [DAT](INFO): Rx dataTimestamp_ set to:1749103438.501114
2025-06-05T06:03:58.504Z,1749103438.504 [DAT](INFO): DAT read: Bearing 355.5, 11.5 (Local)
2025-06-05T06:03:58.504Z,1749103438.504 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.5, 11.5 (Local)
2025-06-05T06:03:58.508Z,1749103438.508 [DAT](INFO): DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed 0.7
2025-06-05T06:03:58.516Z,1749103438.516 [DAT](INFO): DAT read: 06:03:57.2611 LVL= 21024, 22689, 18450, 29523, AGC= 48, IDX= 498, 0.06, 1.729, 0.216, 1.832, 1.229, PHS= 0.587,-0.966, 0.600, RAW= 150.4, -2.9, CAL= 154.5, -11.5, ROT= 355.5, 11.5
2025-06-05T06:03:58.517Z,1749103438.517 [DAT](INFO): got valid direction response:
06:03:57.2611 LVL= 21024, 22689, 18450, 29523, AGC= 48, IDX= 498, 0.06, 1.729, 0.216, 1.832, 1.229, PHS= 0.587,-0.966, 0.600, RAW= 150.4, -2.9, CAL= 154.5, -11.5, ROT= 355.5, 11.5
2025-06-05T06:03:58.520Z,1749103438.520 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-05T06:03:58.526Z,1749103438.526 [DAT](INFO): direction in FSK: [0.976904,-0.076884,-0.199368]
2025-06-05T06:03:58.527Z,1749103438.527 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:58.552Z,1749103438.552 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=5.046260
2025-06-05T06:03:58.711Z,1749103438.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.500000 m,
deltaT: 0.503846 s,
deltaX: -0.600000 m,
approachRate: -1.190840 m/s,
rangeRepo size: 4
2025-06-05T06:03:58.713Z,1749103438.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.448047 m,
bearing: 284.772943 deg,
lat: 36.906118 deg,
lon: -122.116045 deg,
deltaT: 2.518099 s,
deltaX: -1.885020 m,
approachRate: -0.748589 m/s,
posRepo size: 4
2025-06-05T06:03:58.717Z,1749103438.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.45 m. 8.33 m.
2025-06-05T06:03:58.728Z,1749103438.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 7.079633 m,
bearing: 288.618993 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 291.458734 deg,
new cmd heading: 291.808365 deg.
2025-06-05T06:03:58.729Z,1749103438.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093017 target range: 8.333067 and range: 6.50 m.
2025-06-05T06:03:58.751Z,1749103438.751 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=5.246664
2025-06-05T06:03:59.004Z,1749103439.004 [DAT](INFO): DAT read: Rx Time:06:03:57.7609
2025-06-05T06:03:59.004Z,1749103439.004 [DAT](INFO): Rx dataTimestamp_ set to:1749103439.004005
2025-06-05T06:03:59.005Z,1749103439.005 [DAT](INFO): DAT read: Bearing 35.8 (Local)
2025-06-05T06:03:59.006Z,1749103439.006 [DAT](INFO): Local bearing/azimuth received:
Bearing 35.8 (Local)
2025-06-05T06:03:59.008Z,1749103439.008 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.6
2025-06-05T06:03:59.016Z,1749103439.016 [DAT](INFO): DAT read: 06:03:57.7609 LVL= 21584, 24881, 17138, 29091, AGC= 47, IDX= 496,-0.27, 0.246,-1.255, 0.352,-0.226, PHS= 0.560,-0.982, 0.575, RAW= 150.5, -2.0, CAL= 154.3, -10.8, ROT= 355.7, 10.8
2025-06-05T06:03:59.017Z,1749103439.017 [DAT](INFO): got valid direction response:
06:03:57.7609 LVL= 21584, 24881, 17138, 29091, AGC= 47, IDX= 496,-0.27, 0.246,-1.255, 0.352,-0.226, PHS= 0.560,-0.982, 0.575, RAW= 150.5, -2.0, CAL= 154.3, -10.8, ROT= 355.7, 10.8
2025-06-05T06:03:59.043Z,1749103439.043 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-05T06:03:59.045Z,1749103439.045 [DAT](INFO): direction in FSK: [0.979522,-0.073650,-0.187381]
2025-06-05T06:03:59.045Z,1749103439.045 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:59.066Z,1749103439.066 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=5.553043
2025-06-05T06:03:59.215Z,1749103439.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.502891 s,
deltaX: -0.300000 m,
approachRate: -0.596551 m/s,
rangeRepo size: 4
2025-06-05T06:03:59.217Z,1749103439.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.150444 m,
bearing: 285.178046 deg,
lat: 36.906118 deg,
lon: -122.116044 deg,
deltaT: 3.020990 s,
deltaX: -2.182623 m,
approachRate: -0.722486 m/s,
posRepo size: 4
2025-06-05T06:03:59.222Z,1749103439.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.15 m. 8.33 m.
2025-06-05T06:03:59.225Z,1749103439.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 6.772956 m,
bearing: 288.859336 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 291.808358 deg,
new cmd heading: 292.195852 deg.
2025-06-05T06:03:59.235Z,1749103439.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.099780 target range: 8.333067 and range: 6.20 m.
2025-06-05T06:03:59.255Z,1749103439.255 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=5.750378
2025-06-05T06:03:59.509Z,1749103439.509 [DAT](INFO): DAT read: Rx Time:06:03:58.2606
2025-06-05T06:03:59.510Z,1749103439.510 [DAT](INFO): Rx dataTimestamp_ set to:1749103439.510180
2025-06-05T06:03:59.512Z,1749103439.512 [DAT](INFO): DAT read: Bearing 355.9, 10.9 (Local)
2025-06-05T06:03:59.513Z,1749103439.513 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.9, 10.9 (Local)
2025-06-05T06:03:59.516Z,1749103439.516 [DAT](INFO): DAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed 0.6
2025-06-05T06:03:59.522Z,1749103439.522 [DAT](INFO): DAT read: 06:03:58.2606 LVL= 23392, 24545, 18658, 28915, AGC= 48, IDX= 508, 0.29, 1.015,-0.505, 1.114, 0.530, PHS= 0.573,-0.988, 0.581, RAW= 150.3, -2.1, CAL= 154.1, -10.9, ROT= 355.9, 10.9
2025-06-05T06:03:59.523Z,1749103439.523 [DAT](INFO): got valid direction response:
06:03:58.2606 LVL= 23392, 24545, 18658, 28915, AGC= 48, IDX= 508, 0.29, 1.015,-0.505, 1.114, 0.530, PHS= 0.573,-0.988, 0.581, RAW= 150.3, -2.1, CAL= 154.1, -10.9, ROT= 355.9, 10.9
2025-06-05T06:03:59.524Z,1749103439.524 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-05T06:03:59.525Z,1749103439.525 [DAT](INFO): direction in FSK: [0.979446,-0.070208,-0.189095]
2025-06-05T06:03:59.525Z,1749103439.525 [DAT](INFO): publishing direction and range info
2025-06-05T06:03:59.553Z,1749103439.553 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=6.041182
2025-06-05T06:03:59.613Z,1749103439.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.900000 m,
deltaT: 0.506175 s,
deltaX: -0.300000 m,
approachRate: -0.592680 m/s,
rangeRepo size: 4
2025-06-05T06:03:59.619Z,1749103439.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.852916 m,
bearing: 285.385881 deg,
lat: 36.906118 deg,
lon: -122.116044 deg,
deltaT: 3.527165 s,
deltaX: -2.480151 m,
approachRate: -0.703157 m/s,
posRepo size: 4
2025-06-05T06:03:59.620Z,1749103439.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.85 m. 8.33 m.
2025-06-05T06:03:59.628Z,1749103439.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 6.513893 m,
bearing: 289.080085 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 292.195848 deg,
new cmd heading: 292.506077 deg.
2025-06-05T06:03:59.629Z,1749103439.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.105194 target range: 8.333067 and range: 5.90 m.
2025-06-05T06:03:59.761Z,1749103439.761 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=6.256443
2025-06-05T06:04:00.018Z,1749103440.018 [DAT](INFO): DAT read: Rx Time:06:03:58.7604
2025-06-05T06:04:00.020Z,1749103440.020 [DAT](INFO): Rx dataTimestamp_ set to:1749103440.019261
2025-06-05T06:04:00.024Z,1749103440.024 [DAT](INFO): DAT read: Bearing 356.3, 10.7 (Local)
2025-06-05T06:04:00.024Z,1749103440.024 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.3, 10.7 (Local)
2025-06-05T06:04:00.027Z,1749103440.027 [DAT](INFO): DAT read: Range 10 to 50 : 5.6 m (trip time 3.7 ms) speed 0.6
2025-06-05T06:04:00.040Z,1749103440.040 [DAT](INFO): DAT read: 06:03:58.7604 LVL= 22880, 24657, 17074, 28419, AGC= 49, IDX= 507, 0.12, 1.639, 0.132, 1.725, 1.163, PHS= 0.564,-0.984, 0.560, RAW= 149.8, -1.8, CAL= 153.7, -10.7, ROT= 356.3, 10.7
2025-06-05T06:04:00.052Z,1749103440.052 [DAT](INFO): got valid direction response:
06:03:58.7604 LVL= 22880, 24657, 17074, 28419, AGC= 49, IDX= 507, 0.12, 1.639, 0.132, 1.725, 1.163, PHS= 0.564,-0.984, 0.560, RAW= 149.8, -1.8, CAL= 153.7, -10.7, ROT= 356.3, 10.7
2025-06-05T06:04:00.053Z,1749103440.053 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-05T06:04:00.064Z,1749103440.064 [DAT](INFO): direction in FSK: [0.980565,-0.063410,-0.185667]
2025-06-05T06:04:00.065Z,1749103440.065 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:00.090Z,1749103440.090 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=6.584862
2025-06-05T06:04:00.197Z,1749103440.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.600000 m,
deltaT: 0.509081 s,
deltaX: -0.300000 m,
approachRate: -0.589298 m/s,
rangeRepo size: 4
2025-06-05T06:04:00.203Z,1749103440.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.555310 m,
bearing: 286.380156 deg,
lat: 36.906118 deg,
lon: -122.116044 deg,
deltaT: 4.036246 s,
deltaX: -2.777757 m,
approachRate: -0.688203 m/s,
posRepo size: 4
2025-06-05T06:04:00.204Z,1749103440.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.56 m. 8.33 m.
2025-06-05T06:04:00.215Z,1749103440.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 6.184929 m,
bearing: 289.383153 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 292.506075 deg,
new cmd heading: 292.955566 deg.
2025-06-05T06:04:00.216Z,1749103440.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.113039 target range: 8.333067 and range: 5.60 m.
2025-06-05T06:04:00.268Z,1749103440.268 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=6.763519
2025-06-05T06:04:00.521Z,1749103440.521 [DAT](INFO): DAT read: Rx Time:06:03:59.2602
2025-06-05T06:04:00.522Z,1749103440.522 [DAT](INFO): Rx dataTimestamp_ set to:1749103440.521331
2025-06-05T06:04:00.523Z,1749103440.523 [DAT](INFO): DAT read: Bearing 356.7, 10.0 (Local)
2025-06-05T06:04:00.523Z,1749103440.523 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.7, 10.0 (Local)
2025-06-05T06:04:00.527Z,1749103440.527 [DAT](INFO): DAT read: Range 10 to 50 : 5.3 m (trip time 3.5 ms) speed 0.5
2025-06-05T06:04:00.532Z,1749103440.532 [DAT](INFO): DAT read: 06:03:59.2602 LVL= 17568, 24561, 15202, 28275, AGC= 48, IDX= 504, 0.07,-1.252,-2.723,-1.172,-1.699, PHS= 0.535,-0.977, 0.524, RAW= 149.6, -1.1, CAL= 153.3, -10.0, ROT= 356.7, 10.0
2025-06-05T06:04:00.533Z,1749103440.533 [DAT](INFO): got valid direction response:
06:03:59.2602 LVL= 17568, 24561, 15202, 28275, AGC= 48, IDX= 504, 0.07,-1.252,-2.723,-1.172,-1.699, PHS= 0.535,-0.977, 0.524, RAW= 149.6, -1.1, CAL= 153.3, -10.0, ROT= 356.7, 10.0
2025-06-05T06:04:00.533Z,1749103440.533 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-05T06:04:00.534Z,1749103440.534 [DAT](INFO): direction in FSK: [0.983175,-0.056689,-0.173648]
2025-06-05T06:04:00.534Z,1749103440.534 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:00.538Z,1749103440.538 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=7.032793
2025-06-05T06:04:00.636Z,1749103440.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.300000 m,
deltaT: 0.502070 s,
deltaX: -0.300000 m,
approachRate: -0.597526 m/s,
rangeRepo size: 4
2025-06-05T06:04:00.643Z,1749103440.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.257791 m,
bearing: 287.411009 deg,
lat: 36.906118 deg,
lon: -122.116044 deg,
deltaT: 4.538316 s,
deltaX: -3.075276 m,
approachRate: -0.677625 m/s,
posRepo size: 4
2025-06-05T06:04:00.644Z,1749103440.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.26 m. 8.33 m.
2025-06-05T06:04:00.663Z,1749103440.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 5.917167 m,
bearing: 289.622944 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 292.955556 deg,
new cmd heading: 293.293671 deg.
2025-06-05T06:04:00.664Z,1749103440.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.118940 target range: 8.333067 and range: 5.30 m.
2025-06-05T06:04:00.771Z,1749103440.771 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=7.266404
2025-06-05T06:04:01.026Z,1749103441.026 [DAT](INFO): DAT read: Rx Time:06:03:59.7601
2025-06-05T06:04:01.027Z,1749103441.027 [DAT](INFO): Rx dataTimestamp_ set to:1749103441.025815
2025-06-05T06:04:01.028Z,1749103441.028 [DAT](INFO): DAT read: Bearing 356.9, 9.3 (Local)
2025-06-05T06:04:01.028Z,1749103441.028 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.9, 9.3 (Local)
2025-06-05T06:04:01.031Z,1749103441.031 [DAT](INFO): DAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed 0.5
2025-06-05T06:04:01.035Z,1749103441.035 [DAT](INFO): DAT read: 06:03:59.7601 LVL= 17904, 25505, 14834, 26739, AGC= 47, IDX= 503, 0.08,-0.747,-2.222,-0.663,-1.176, PHS= 0.517,-0.998, 0.510, RAW= 149.8, -0.4, CAL= 153.1, -9.3, ROT= 356.9, 9.3
2025-06-05T06:04:01.036Z,1749103441.036 [DAT](INFO): got valid direction response:
06:03:59.7601 LVL= 17904, 25505, 14834, 26739, AGC= 47, IDX= 503, 0.08,-0.747,-2.222,-0.663,-1.176, PHS= 0.517,-0.998, 0.510, RAW= 149.8, -0.4, CAL= 153.1, -9.3, ROT= 356.9, 9.3
2025-06-05T06:04:01.036Z,1749103441.036 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-05T06:04:01.037Z,1749103441.037 [DAT](INFO): direction in FSK: [0.985412,-0.053368,-0.161604]
2025-06-05T06:04:01.038Z,1749103441.038 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:01.042Z,1749103441.042 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=7.536996
2025-06-05T06:04:01.201Z,1749103441.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.100000 m,
deltaT: 0.504484 s,
deltaX: -0.200000 m,
approachRate: -0.396445 m/s,
rangeRepo size: 4
2025-06-05T06:04:01.220Z,1749103441.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.059384 m,
bearing: 287.863361 deg,
lat: 36.906119 deg,
lon: -122.116044 deg,
deltaT: 5.042800 s,
deltaX: -3.273683 m,
approachRate: -0.649180 m/s,
posRepo size: 4
2025-06-05T06:04:01.221Z,1749103441.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.06 m. 8.33 m.
2025-06-05T06:04:01.232Z,1749103441.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 5.610469 m,
bearing: 289.921267 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 293.293678 deg,
new cmd heading: 293.727232 deg.
2025-06-05T06:04:01.233Z,1749103441.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126507 target range: 8.333067 and range: 5.10 m.
2025-06-05T06:04:01.276Z,1749103441.276 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=7.771308
2025-06-05T06:04:01.529Z,1749103441.529 [DAT](INFO): DAT read: Rx Time:06:04:00.2598
2025-06-05T06:04:01.530Z,1749103441.530 [DAT](INFO): Rx dataTimestamp_ set to:1749103441.529311
2025-06-05T06:04:01.532Z,1749103441.532 [DAT](INFO): DAT read: Bearing 356.7, 8.8 (Local)
2025-06-05T06:04:01.533Z,1749103441.533 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.7, 8.8 (Local)
2025-06-05T06:04:01.536Z,1749103441.536 [DAT](INFO): DAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed 0.5
2025-06-05T06:04:01.545Z,1749103441.545 [DAT](INFO): DAT read: 06:04:00.2598 LVL= 19424, 25585, 14786, 30355, AGC= 45, IDX= 500, 0.12,-1.723, 3.073,-1.628,-2.140, PHS= 0.505,-1.023, 0.509, RAW= 150.1, 0.1, CAL= 153.3, -8.8, ROT= 356.7, 8.8
2025-06-05T06:04:01.550Z,1749103441.550 [DAT](INFO): got valid direction response:
06:04:00.2598 LVL= 19424, 25585, 14786, 30355, AGC= 45, IDX= 500, 0.12,-1.723, 3.073,-1.628,-2.140, PHS= 0.505,-1.023, 0.509, RAW= 150.1, 0.1, CAL= 153.3, -8.8, ROT= 356.7, 8.8
2025-06-05T06:04:01.551Z,1749103441.551 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-05T06:04:01.552Z,1749103441.552 [DAT](INFO): direction in FSK: [0.986590,-0.056886,-0.152986]
2025-06-05T06:04:01.552Z,1749103441.552 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:01.564Z,1749103441.564 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=8.059101
2025-06-05T06:04:01.633Z,1749103441.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.700000 m,
deltaT: 0.503496 s,
deltaX: -0.400000 m,
approachRate: -0.794445 m/s,
rangeRepo size: 4
2025-06-05T06:04:01.639Z,1749103441.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.662669 m,
bearing: 287.964062 deg,
lat: 36.906120 deg,
lon: -122.116043 deg,
deltaT: 5.546296 s,
deltaX: -3.670398 m,
approachRate: -0.661775 m/s,
posRepo size: 4
2025-06-05T06:04:01.640Z,1749103441.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.66 m. 8.33 m.
2025-06-05T06:04:01.651Z,1749103441.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 5.339635 m,
bearing: 290.194425 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 293.727231 deg,
new cmd heading: 294.060603 deg.
2025-06-05T06:04:01.652Z,1749103441.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.132326 target range: 8.333067 and range: 4.70 m.
2025-06-05T06:04:01.780Z,1749103441.780 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=8.274727
2025-06-05T06:04:02.036Z,1749103442.036 [DAT](INFO): DAT read: Rx Time:06:04:00.7597
2025-06-05T06:04:02.039Z,1749103442.039 [DAT](INFO): Rx dataTimestamp_ set to:1749103442.037134
2025-06-05T06:04:02.044Z,1749103442.044 [DAT](INFO): DAT read: Bearing 356.1, 8.0 (Local)
2025-06-05T06:04:02.045Z,1749103442.045 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.1, 8.0 (Local)
2025-06-05T06:04:02.061Z,1749103442.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:02.062Z,1749103442.062 [DAT](INFO): DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed 0.5
2025-06-05T06:04:02.100Z,1749103442.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.33 m. 8.33 m.
2025-06-05T06:04:02.102Z,1749103442.102 [DAT](INFO): DAT read: 06:04:00.7597 LVL= 17744, 23729, 13778, 27603, AGC= 42, IDX= 498, 0.26,-2.745, 2.056,-2.624,-3.133, PHS= 0.475,-1.048, 0.506, RAW= 151.0, 0.9, CAL= 153.9, -8.0, ROT= 356.1, 8.0
2025-06-05T06:04:02.103Z,1749103442.103 [DAT](INFO): got valid direction response:
06:04:00.7597 LVL= 17744, 23729, 13778, 27603, AGC= 42, IDX= 498, 0.26,-2.745, 2.056,-2.624,-3.133, PHS= 0.475,-1.048, 0.506, RAW= 151.0, 0.9, CAL= 153.9, -8.0, ROT= 356.1, 8.0
2025-06-05T06:04:02.104Z,1749103442.104 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-05T06:04:02.105Z,1749103442.105 [DAT](INFO): direction in FSK: [0.987975,-0.067353,-0.139173]
2025-06-05T06:04:02.105Z,1749103442.105 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:02.109Z,1749103442.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 5.115525 m,
bearing: 290.442438 deg,
approach rate: -0.495375 m/s,
LOS rate: 0.572226 deg/s,
cmd heading: 294.060599 deg,
new cmd heading: 294.837185 deg.
2025-06-05T06:04:02.113Z,1749103442.113 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.607786
2025-06-05T06:04:02.114Z,1749103442.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.145880 target range: 8.333067 and range: 4.70 m.
2025-06-05T06:04:02.283Z,1749103442.283 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.778326
2025-06-05T06:04:02.536Z,1749103442.536 [DAT](INFO): DAT read: Rx Time:06:04:01.2594
2025-06-05T06:04:02.536Z,1749103442.536 [DAT](INFO): Rx dataTimestamp_ set to:1749103442.535988
2025-06-05T06:04:02.538Z,1749103442.538 [DAT](INFO): DAT read: Bearing 355.3, 7.2 (Local)
2025-06-05T06:04:02.538Z,1749103442.538 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.3, 7.2 (Local)
2025-06-05T06:04:02.540Z,1749103442.540 [DAT](INFO): DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed 0.4
2025-06-05T06:04:02.547Z,1749103442.547 [DAT](INFO): DAT read: 06:04:01.2594 LVL= 20576, 26449, 16274, 29907, AGC= 42, IDX= 496,-0.44, 0.483,-0.997, 0.645, 0.130, PHS= 0.441,-1.080, 0.512, RAW= 152.3, 1.7, CAL= 154.7, -7.2, ROT= 355.3, 7.2
2025-06-05T06:04:02.548Z,1749103442.548 [DAT](INFO): got valid direction response:
06:04:01.2594 LVL= 20576, 26449, 16274, 29907, AGC= 42, IDX= 496,-0.44, 0.483,-0.997, 0.645, 0.130, PHS= 0.441,-1.080, 0.512, RAW= 152.3, 1.7, CAL= 154.7, -7.2, ROT= 355.3, 7.2
2025-06-05T06:04:02.549Z,1749103442.549 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-05T06:04:02.550Z,1749103442.550 [DAT](INFO): direction in FSK: [0.988779,-0.081293,-0.125333]
2025-06-05T06:04:02.550Z,1749103442.550 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:02.550Z,1749103442.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.500000 m,
deltaT: 0.507823 s,
deltaX: -0.200000 m,
approachRate: -0.393838 m/s,
rangeRepo size: 4
2025-06-05T06:04:02.552Z,1749103442.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.464257 m,
bearing: 288.028818 deg,
lat: 36.906120 deg,
lon: -122.116044 deg,
deltaT: 6.054119 s,
deltaX: -3.868810 m,
approachRate: -0.639038 m/s,
posRepo size: 4
2025-06-05T06:04:02.553Z,1749103442.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.46 m. 8.33 m.
2025-06-05T06:04:02.557Z,1749103442.557 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.052532
2025-06-05T06:04:02.564Z,1749103442.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 4.836356 m,
bearing: 290.714485 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 294.837191 deg,
new cmd heading: 295.179752 deg.
2025-06-05T06:04:02.565Z,1749103442.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151858 target range: 8.333067 and range: 4.50 m.
2025-06-05T06:04:02.787Z,1749103442.787 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.282159
2025-06-05T06:04:02.888Z,1749103442.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.100000 m,
deltaT: 0.498854 s,
deltaX: -0.400000 m,
approachRate: -0.801838 m/s,
rangeRepo size: 4
2025-06-05T06:04:02.895Z,1749103442.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.067475 m,
bearing: 287.503967 deg,
lat: 36.906120 deg,
lon: -122.116044 deg,
deltaT: 6.552973 s,
deltaX: -4.265592 m,
approachRate: -0.650940 m/s,
posRepo size: 4
2025-06-05T06:04:02.896Z,1749103442.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.07 m. 8.33 m.
2025-06-05T06:04:02.903Z,1749103442.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 4.617183 m,
bearing: 290.933505 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 295.179739 deg,
new cmd heading: 295.451010 deg.
2025-06-05T06:04:02.904Z,1749103442.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.156593 target range: 8.333067 and range: 4.10 m.
2025-06-05T06:04:03.045Z,1749103443.045 [DAT](INFO): DAT read: Rx Time:06:04:01.7593
2025-06-05T06:04:03.047Z,1749103443.047 [DAT](INFO): Rx dataTimestamp_ set to:1749103443.045603
2025-06-05T06:04:03.051Z,1749103443.051 [DAT](INFO): DAT read: Bearing 354.4, 6.4 (Local)
2025-06-05T06:04:03.053Z,1749103443.053 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.4, 6.4 (Local)
2025-06-05T06:04:03.057Z,1749103443.057 [DAT](INFO): DAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4
2025-06-05T06:04:03.071Z,1749103443.071 [DAT](INFO): DAT read: 06:04:01.7593 LVL= 20560, 27089, 16674, 31091, AGC= 42, IDX= 511,-0.18, 0.260,-1.207, 0.463,-0.052, PHS= 0.400,-1.108, 0.513, RAW= 153.6, 2.5, CAL= 155.6, -6.4, ROT= 354.4, 6.4
2025-06-05T06:04:03.072Z,1749103443.072 [DAT](INFO): got valid direction response:
06:04:01.7593 LVL= 20560, 27089, 16674, 31091, AGC= 42, IDX= 511,-0.18, 0.260,-1.207, 0.463,-0.052, PHS= 0.400,-1.108, 0.513, RAW= 153.6, 2.5, CAL= 155.6, -6.4, ROT= 354.4, 6.4
2025-06-05T06:04:03.072Z,1749103443.072 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-05T06:04:03.073Z,1749103443.073 [DAT](INFO): direction in FSK: [0.989025,-0.096975,-0.111469]
2025-06-05T06:04:03.074Z,1749103443.074 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:03.081Z,1749103443.081 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.576626
2025-06-05T06:04:03.295Z,1749103443.295 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.789724
2025-06-05T06:04:03.402Z,1749103443.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.900000 m,
deltaT: 0.509615 s,
deltaX: -0.200000 m,
approachRate: -0.392453 m/s,
rangeRepo size: 4
2025-06-05T06:04:03.404Z,1749103443.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.869062 m,
bearing: 286.506935 deg,
lat: 36.906120 deg,
lon: -122.116044 deg,
deltaT: 7.062588 s,
deltaX: -4.464005 m,
approachRate: -0.632064 m/s,
posRepo size: 4
2025-06-05T06:04:03.405Z,1749103443.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.87 m. 8.33 m.
2025-06-05T06:04:03.416Z,1749103443.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 4.325121 m,
bearing: 291.289523 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 295.451007 deg,
new cmd heading: 295.838586 deg.
2025-06-05T06:04:03.417Z,1749103443.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.163357 target range: 8.333067 and range: 3.90 m.
2025-06-05T06:04:03.545Z,1749103443.545 [DAT](INFO): DAT read: Rx Time:06:04:02.2590
2025-06-05T06:04:03.546Z,1749103443.546 [DAT](INFO): Rx dataTimestamp_ set to:1749103443.545524
2025-06-05T06:04:03.548Z,1749103443.548 [DAT](INFO): DAT read: Bearing 353.3, 6.0 (Local)
2025-06-05T06:04:03.549Z,1749103443.549 [DAT](INFO): Local bearing/azimuth received:
Bearing 353.3, 6.0 (Local)
2025-06-05T06:04:03.552Z,1749103443.552 [DAT](INFO): DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4
2025-06-05T06:04:03.557Z,1749103443.557 [DAT](INFO): DAT read: 06:04:02.2590 LVL= 19184, 25121, 14642, 29427, AGC= 41, IDX= 508,-0.00, 0.103,-1.368, 0.353,-0.181, PHS= 0.372,-1.140, 0.532, RAW= 155.0, 3.0, CAL= 156.7, -6.0, ROT= 353.3, 6.0
2025-06-05T06:04:03.558Z,1749103443.558 [DAT](INFO): got valid direction response:
06:04:02.2590 LVL= 19184, 25121, 14642, 29427, AGC= 41, IDX= 508,-0.00, 0.103,-1.368, 0.353,-0.181, PHS= 0.372,-1.140, 0.532, RAW= 155.0, 3.0, CAL= 156.7, -6.0, ROT= 353.3, 6.0
2025-06-05T06:04:03.565Z,1749103443.565 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-05T06:04:03.566Z,1749103443.566 [DAT](INFO): direction in FSK: [0.987730,-0.116032,-0.104528]
2025-06-05T06:04:03.567Z,1749103443.567 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:03.570Z,1749103443.570 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.065116
2025-06-05T06:04:03.862Z,1749103443.862 [DAT](INFO): DAT read: Rx Time:06:04:02.7590
2025-06-05T06:04:03.863Z,1749103443.863 [DAT](INFO): Rx dataTimestamp_ set to:1749103443.862516
2025-06-05T06:04:03.864Z,1749103443.864 [DAT](INFO): DAT read: Bearing 352.4, 5.4 (Local)
2025-06-05T06:04:03.864Z,1749103443.864 [DAT](INFO): Local bearing/azimuth received:
Bearing 352.4, 5.4 (Local)
2025-06-05T06:04:03.879Z,1749103443.879 [DAT](INFO): DAT read: Range 10 to 50 : 3.5 m (e 2.3 ms) speed 0.4
2025-06-05T06:04:03.889Z,1749103443.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.500000 m,
deltaT: 0.499921 s,
deltaX: -0.400000 m,
approachRate: -0.800127 m/s,
rangeRepo size: 4
2025-06-05T06:04:03.895Z,1749103443.895 [DAT](INFO): DAT read: 06:04:02.7590 LVL= 22208, 24625, 15858, 30451, AGC= 42, IDX= 507, 0.19, 1.767, 0.287, 2.060, 1.512, PHS= 0.342,-1.178, 0.544, RAW= 156.2, 3.6, CAL= 157.6, -5.4, ROT= 352.4, 5.4
2025-06-05T06:04:03.896Z,1749103443.896 [DAT](INFO): got valid direction response:
06:04:02.7590 LVL= 22208, 24625, 15858, 30451, AGC= 42, IDX= 507, 0.19, 1.767, 0.287, 2.060, 1.512, PHS= 0.342,-1.178, 0.544, RAW= 156.2, 3.6, CAL= 157.6, -5.4, ROT= 352.4, 5.4
2025-06-05T06:04:03.897Z,1749103443.897 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-06-05T06:04:03.898Z,1749103443.898 [DAT](INFO): direction in FSK: [0.986816,-0.131669,-0.094108]
2025-06-05T06:04:03.904Z,1749103443.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.472220 m,
bearing: 286.549214 deg,
lat: 36.906120 deg,
lon: -122.116044 deg,
deltaT: 7.562509 s,
deltaX: -4.860847 m,
approachRate: -0.642756 m/s,
posRepo size: 4
2025-06-05T06:04:03.905Z,1749103443.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.47 m. 8.33 m.
2025-06-05T06:04:03.910Z,1749103443.910 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:03.924Z,1749103443.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 4.072953 m,
bearing: 291.564368 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 295.838579 deg,
new cmd heading: 296.225962 deg.
2025-06-05T06:04:03.925Z,1749103443.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.170118 target range: 8.333067 and range: 3.50 m.
2025-06-05T06:04:03.930Z,1749103443.930 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.409135
2025-06-05T06:04:04.052Z,1749103444.052 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.546060
2025-06-05T06:04:04.303Z,1749103444.303 [DAT](INFO): DAT read: Rx Time:06:04:03.2587
2025-06-05T06:04:04.304Z,1749103444.304 [DAT](INFO): Rx dataTimestamp_ set to:1749103444.303020
2025-06-05T06:04:04.306Z,1749103444.306 [DAT](INFO): DAT read: Bearing 351.9, 4.6 (Local)
2025-06-05T06:04:04.307Z,1749103444.307 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.9, 4.6 (Local)
2025-06-05T06:04:04.310Z,1749103444.310 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.804160
2025-06-05T06:04:04.452Z,1749103444.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.500000 m,
deltaT: 0.316992 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:04.454Z,1749103444.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.472220 m,
bearing: 285.575371 deg,
lat: 36.906119 deg,
lon: -122.116046 deg,
deltaT: 7.879501 s,
deltaX: -4.860847 m,
approachRate: -0.616898 m/s,
posRepo size: 4
2025-06-05T06:04:04.472Z,1749103444.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.47 m. 8.33 m.
2025-06-05T06:04:04.479Z,1749103444.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 8.333067 m,
nav range: 3.700505 m,
bearing: 292.053882 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.256575 deg/s,
cmd heading: 296.225960 deg,
new cmd heading: 296.658786 deg.
2025-06-05T06:04:04.480Z,1749103444.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.177672 target range: 8.333067 and range: 3.50 m.
2025-06-05T06:04:04.553Z,1749103444.553 [DAT](INFO): DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.4
2025-06-05T06:04:04.560Z,1749103444.560 [DAT](INFO): DAT read: 06:04:03.2587 LVL= 21008, 24689, 13874, 29843, AGC= 39, IDX= 504, 0.40, 0.860,-0.601, 1.180, 0.644, PHS= 0.304,-1.198, 0.533, RAW= 157.0, 4.5, CAL= 158.1, -4.6, ROT= 351.9, 4.6
2025-06-05T06:04:04.564Z,1749103444.564 [DAT](INFO): got valid direction response:
06:04:03.2587 LVL= 21008, 24689, 13874, 29843, AGC= 39, IDX= 504, 0.40, 0.860,-0.601, 1.180, 0.644, PHS= 0.304,-1.198, 0.533, RAW= 157.0, 4.5, CAL= 158.1, -4.6, ROT= 351.9, 4.6
2025-06-05T06:04:04.565Z,1749103444.565 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-06-05T06:04:04.568Z,1749103444.568 [DAT](INFO): direction in FSK: [0.986835,-0.140447,-0.080199]
2025-06-05T06:04:04.569Z,1749103444.569 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:04.620Z,1749103444.620 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=11.114771
2025-06-05T06:04:04.808Z,1749103444.808 [DAT](INFO): DAT read: Rx Time:06:04:03.7586
2025-06-05T06:04:04.811Z,1749103444.811 [DAT](INFO): Rx dataTimestamp_ set to:1749103444.808970
2025-06-05T06:04:04.813Z,1749103444.813 [DAT](INFO): DAT read: Bearing 351.6, 3.4 (Local)
2025-06-05T06:04:04.815Z,1749103444.815 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.6, 3.4 (Local)
2025-06-05T06:04:04.819Z,1749103444.819 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.5
2025-06-05T06:04:04.821Z,1749103444.821 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-06-05T06:04:04.824Z,1749103444.824 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=11.318867
2025-06-05T06:04:05.011Z,1749103445.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.900000 m,
deltaT: 0.946454 s,
deltaX: -0.600000 m,
approachRate: -0.633945 m/s,
rangeRepo size: 4
2025-06-05T06:04:05.029Z,1749103445.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.876920 m,
bearing: 284.964583 deg,
lat: 36.906119 deg,
lon: -122.116045 deg,
deltaT: 8.825955 s,
deltaX: -5.456147 m,
approachRate: -0.618193 m/s,
posRepo size: 4
2025-06-05T06:04:05.048Z,1749103445.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m.
2025-06-05T06:04:05.049Z,1749103445.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-05T06:04:05.075Z,1749103445.075 [DAT](INFO): DAT read: 06:04:03.7586 LVL= 21216, 25569, 13842, 28259, AGC= 40, IDX= 504,-0.41, 1.281,-0.169, 1.631, 1.118, PHS= 0.251,-1.240, 0.510, RAW= 157.9, 5.9, CAL= 158.4, -3.4, ROT= 351.6, 3.4
2025-06-05T06:04:05.087Z,1749103445.087 [DAT](INFO): got valid direction response:
06:04:03.7586 LVL= 21216, 25569, 13842, 28259, AGC= 40, IDX= 504,-0.41, 1.281,-0.169, 1.631, 1.118, PHS= 0.251,-1.240, 0.510, RAW= 157.9, 5.9, CAL= 158.4, -3.4, ROT= 351.6, 3.4
2025-06-05T06:04:05.088Z,1749103445.088 [DAT](INFO): #Rx 34: Read direction message, but no range.
2025-06-05T06:04:05.098Z,1749103445.098 [DAT](INFO): direction in FSK: [0.987531,-0.145826,-0.059306]
2025-06-05T06:04:05.101Z,1749103445.101 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=11.596623
2025-06-05T06:04:05.312Z,1749103445.312 [DAT](INFO): DAT read: Rx Time:06:04:04.2583
2025-06-05T06:04:05.313Z,1749103445.313 [DAT](INFO): Rx dataTimestamp_ set to:1749103445.312215
2025-06-05T06:04:05.316Z,1749103445.316 [DAT](INFO): DAT read: Bearing 350.4, 2.5 (Local)
2025-06-05T06:04:05.317Z,1749103445.317 [DAT](INFO): Local bearing/azimuth received:
Bearing 350.4, 2.5 (Local)
2025-06-05T06:04:05.320Z,1749103445.320 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.5
2025-06-05T06:04:05.327Z,1749103445.327 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-06-05T06:04:05.338Z,1749103445.338 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=11.824547
2025-06-05T06:04:05.521Z,1749103445.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.400000 m,
deltaT: 0.503245 s,
deltaX: -0.500000 m,
approachRate: -0.993552 m/s,
rangeRepo size: 4
2025-06-05T06:04:05.531Z,1749103445.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.380899 m,
bearing: 286.092332 deg,
lat: 36.906119 deg,
lon: -122.116045 deg,
deltaT: 0.503245 s,
deltaX: -0.496021 m,
approachRate: -0.985644 m/s,
posRepo size: 4
2025-06-05T06:04:05.564Z,1749103445.564 [DAT](INFO): DAT read: 06:04:04.2583 LVL= 24272, 27089, 15378, 32051, AGC= 42, IDX= 501,-0.32, 0.923,-0.500, 1.334, 0.821, PHS= 0.190,-1.274, 0.510, RAW= 159.7, 7.0, CAL= 159.6, -2.5, ROT= 350.4, 2.5
2025-06-05T06:04:05.565Z,1749103445.565 [DAT](INFO): got valid direction response:
06:04:04.2583 LVL= 24272, 27089, 15378, 32051, AGC= 42, IDX= 501,-0.32, 0.923,-0.500, 1.334, 0.821, PHS= 0.190,-1.274, 0.510, RAW= 159.7, 7.0, CAL= 159.6, -2.5, ROT= 350.4, 2.5
2025-06-05T06:04:05.566Z,1749103445.566 [DAT](INFO): #Rx 36: Read direction message, but no range.
2025-06-05T06:04:05.567Z,1749103445.567 [DAT](INFO): direction in FSK: [0.985058,-0.166610,-0.043619]
2025-06-05T06:04:05.572Z,1749103445.572 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=12.067358
2025-06-05T06:04:05.815Z,1749103445.815 [DAT](INFO): DAT read: Rx Time:06:04:04.7582
2025-06-05T06:04:05.817Z,1749103445.817 [DAT](INFO): Rx dataTimestamp_ set to:1749103445.816009
2025-06-05T06:04:05.821Z,1749103445.821 [DAT](INFO): DAT read: Bearing 347.9, 1.4 (Local)
2025-06-05T06:04:05.822Z,1749103445.822 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.9, 1.4 (Local)
2025-06-05T06:04:05.826Z,1749103445.826 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.5
2025-06-05T06:04:05.828Z,1749103445.828 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-06-05T06:04:05.835Z,1749103445.835 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=12.330020
2025-06-05T06:04:05.997Z,1749103445.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.100000 m,
deltaT: 0.503794 s,
deltaX: -0.300000 m,
approachRate: -0.595482 m/s,
rangeRepo size: 4
2025-06-05T06:04:06.003Z,1749103446.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.083226 m,
bearing: 285.148566 deg,
lat: 36.906119 deg,
lon: -122.116044 deg,
deltaT: 0.503794 s,
deltaX: -0.297673 m,
approachRate: -0.590863 m/s,
posRepo size: 4
2025-06-05T06:04:06.128Z,1749103446.128 [DAT](INFO): DAT read: 06:04:04.7582 LVL= 31088, 30369, 19602, 32755, AGC= 44, IDX= 499,-0.24, 0.555,-0.859, 1.087, 0.545, PHS= 0.098,-1.357, 0.539, RAW= 162.8, 8.4, CAL= 162.1, -1.4, ROT= 347.9, 1.4
2025-06-05T06:04:06.129Z,1749103446.129 [DAT](INFO): got valid direction response:
06:04:04.7582 LVL= 31088, 30369, 19602, 32755, AGC= 44, IDX= 499,-0.24, 0.555,-0.859, 1.087, 0.545, PHS= 0.098,-1.357, 0.539, RAW= 162.8, 8.4, CAL= 162.1, -1.4, ROT= 347.9, 1.4
2025-06-05T06:04:06.130Z,1749103446.130 [DAT](INFO): #Rx 38: Read direction message, but no range.
2025-06-05T06:04:06.162Z,1749103446.162 [DAT](INFO): direction in FSK: [0.977491,-0.209556,-0.024432]
2025-06-05T06:04:06.201Z,1749103446.201 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=12.695955
2025-06-05T06:04:06.319Z,1749103446.319 [DAT](INFO): DAT read: Rx Time:06:04:05.2578
2025-06-05T06:04:06.320Z,1749103446.320 [DAT](INFO): Rx dataTimestamp_ set to:1749103446.319407
2025-06-05T06:04:06.323Z,1749103446.323 [DAT](INFO): DAT read: Bearing 345.1, -1.7 (Local)
2025-06-05T06:04:06.324Z,1749103446.324 [DAT](INFO): Local bearing/azimuth received:
Bearing 345.1, -1.7 (Local)
2025-06-05T06:04:06.348Z,1749103446.348 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.5
2025-06-05T06:04:06.377Z,1749103446.377 [DAT](INFO): DAT read: 06:04:05.2578 LVL= 28336, 32753, 15730, 32755, AGC= 43, IDX= 496,-0.23, 0.118,-1.283, 0.774, 0.248, PHS=-0.042,-1.484, 0.523, RAW= 165.8, 11.2, CAL= 164.9, 1.7, ROT= 345.1, -1.7
2025-06-05T06:04:06.383Z,1749103446.383 [DAT](INFO): got valid direction response:
06:04:05.2578 LVL= 28336, 32753, 15730, 32755, AGC= 43, IDX= 496,-0.23, 0.118,-1.283, 0.774, 0.248, PHS=-0.042,-1.484, 0.523, RAW= 165.8, 11.2, CAL= 164.9, 1.7, ROT= 345.1, -1.7
2025-06-05T06:04:06.384Z,1749103446.384 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-06-05T06:04:06.384Z,1749103446.385 [DAT](INFO): direction in FSK: [0.965951,-0.257020,0.029666]
2025-06-05T06:04:06.385Z,1749103446.385 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:06.397Z,1749103446.397 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=12.891875
2025-06-05T06:04:06.513Z,1749103446.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.500000 m,
deltaT: 0.503398 s,
deltaX: -0.600000 m,
approachRate: -1.191900 m/s,
rangeRepo size: 4
2025-06-05T06:04:06.520Z,1749103446.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.488019 m,
bearing: 279.221668 deg,
lat: 36.906119 deg,
lon: -122.116044 deg,
deltaT: 0.503398 s,
deltaX: -0.595207 m,
approachRate: -1.182379 m/s,
posRepo size: 4
2025-06-05T06:04:06.567Z,1749103446.567 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=13.062534
2025-06-05T06:04:06.826Z,1749103446.826 [DAT](INFO): DAT read: Rx Time:06:04:05.7580
2025-06-05T06:04:06.828Z,1749103446.828 [DAT](INFO): Rx dataTimestamp_ set to:1749103446.826910
2025-06-05T06:04:06.833Z,1749103446.833 [DAT](INFO): DAT read: Bearing 338.5, -9.9 (Local)
2025-06-05T06:04:06.837Z,1749103446.837 [DAT](INFO): Local bearing/azimuth received:
Bearing 338.5, -9.9 (Local)
2025-06-05T06:04:06.847Z,1749103446.847 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.4
2025-06-05T06:04:06.847Z,1749103446.847 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-06-05T06:04:06.848Z,1749103446.848 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=13.343472
2025-06-05T06:04:06.907Z,1749103446.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:06.916Z,1749103446.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.800000 m,
deltaT: 0.507503 s,
deltaX: 0.300000 m,
approachRate: 0.591129 m/s,
rangeRepo size: 4
2025-06-05T06:04:07.089Z,1749103447.089 [DAT](INFO): DAT read: 06:04:05.7580 LVL= 22992, 31377, 14498, 32371, AGC= 42, IDX= 511,-0.28, 2.604, 1.405,-2.851, 2.989, PHS=-0.296,-1.537, 0.440, RAW= 171.6, 15.9, CAL= 171.5, 9.9, ROT= 338.5, -9.9
2025-06-05T06:04:07.093Z,1749103447.093 [DAT](INFO): got valid direction response:
06:04:05.7580 LVL= 22992, 31377, 14498, 32371, AGC= 42, IDX= 511,-0.28, 2.604, 1.405,-2.851, 2.989, PHS=-0.296,-1.537, 0.440, RAW= 171.6, 15.9, CAL= 171.5, 9.9, ROT= 338.5, -9.9
2025-06-05T06:04:07.094Z,1749103447.094 [DAT](INFO): #Rx 41: Read direction message, but no range.
2025-06-05T06:04:07.114Z,1749103447.114 [DAT](INFO): direction in FSK: [0.916563,-0.361044,0.171929]
2025-06-05T06:04:07.118Z,1749103447.118 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=13.612686
2025-06-05T06:04:07.327Z,1749103447.327 [DAT](INFO): DAT read: Rx Time:06:04:06.2578
2025-06-05T06:04:07.329Z,1749103447.329 [DAT](INFO): Rx dataTimestamp_ set to:1749103447.327999
2025-06-05T06:04:07.332Z,1749103447.332 [DAT](INFO): DAT read: Bearing 359.4, -28.1 (Local)
2025-06-05T06:04:07.333Z,1749103447.333 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.4, -28.1 (Local)
2025-06-05T06:04:07.337Z,1749103447.337 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.3
2025-06-05T06:04:07.344Z,1749103447.344 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-06-05T06:04:07.354Z,1749103447.354 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=13.840910
2025-06-05T06:04:07.373Z,1749103447.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.500000 m,
deltaT: 0.501089 s,
deltaX: -0.300000 m,
approachRate: -0.598696 m/s,
rangeRepo size: 4
2025-06-05T06:04:07.380Z,1749103447.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.487982 m,
bearing: 271.187311 deg,
lat: 36.906119 deg,
lon: -122.116044 deg,
deltaT: 1.008592 s,
deltaX: -0.000036 m,
approachRate: -0.000036 m/s,
posRepo size: 4
2025-06-05T06:04:07.581Z,1749103447.581 [DAT](INFO): DAT read: 06:04:06.2578 LVL= 20752, 27793, 15074, 32755, AGC= 45, IDX= 509, 0.27,-0.625,-2.262,-0.744,-0.416, PHS=-0.122,-1.799,-0.332, RAW= 143.4, 26.7, CAL= 150.6, 28.1, ROT= 359.4, -28.1
2025-06-05T06:04:07.582Z,1749103447.582 [DAT](INFO): got valid direction response:
06:04:06.2578 LVL= 20752, 27793, 15074, 32755, AGC= 45, IDX= 509, 0.27,-0.625,-2.262,-0.744,-0.416, PHS=-0.122,-1.799,-0.332, RAW= 143.4, 26.7, CAL= 150.6, 28.1, ROT= 359.4, -28.1
2025-06-05T06:04:07.583Z,1749103447.583 [DAT](INFO): #Rx 43: Read direction message, but no range.
2025-06-05T06:04:07.584Z,1749103447.584 [DAT](INFO): direction in FSK: [0.882078,-0.009238,0.471012]
2025-06-05T06:04:07.587Z,1749103447.587 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=14.082379
2025-06-05T06:04:07.829Z,1749103447.829 [DAT](INFO): DAT read: Rx Time:06:04:06.7576
2025-06-05T06:04:07.829Z,1749103447.829 [DAT](INFO): Rx dataTimestamp_ set to:1749103447.829050
2025-06-05T06:04:07.831Z,1749103447.831 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.3
2025-06-05T06:04:07.831Z,1749103447.831 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-06-05T06:04:07.832Z,1749103447.832 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=14.327270
2025-06-05T06:04:08.083Z,1749103448.083 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=14.577207
2025-06-05T06:04:08.176Z,1749103448.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.501051 s,
deltaX: -0.300000 m,
approachRate: -0.598741 m/s,
rangeRepo size: 4
2025-06-05T06:04:08.335Z,1749103448.335 [DAT](INFO): DAT read: Rx Time:06:04:07.2574
2025-06-05T06:04:08.337Z,1749103448.337 [DAT](INFO): Rx dataTimestamp_ set to:1749103448.335981
2025-06-05T06:04:08.343Z,1749103448.343 [DAT](INFO): DAT read: Bearing 8.7, -48.5 (Local)
2025-06-05T06:04:08.344Z,1749103448.344 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.7, -48.5 (Local)
2025-06-05T06:04:08.347Z,1749103448.347 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.4
2025-06-05T06:04:08.351Z,1749103448.351 [DAT](INFO): DAT read: 06:04:07.2574 LVL= 26000, 32753, 31922, 32755, AGC= 36, IDX= 506, 0.22, 1.519,-0.192, 0.972, 2.009, PHS=-0.402,-2.155,-1.040, RAW= 128.9, 39.6, CAL= 141.3, 48.5, ROT= 8.7, -48.5
2025-06-05T06:04:08.352Z,1749103448.352 [DAT](INFO): got valid direction response:
06:04:07.2574 LVL= 26000, 32753, 31922, 32755, AGC= 36, IDX= 506, 0.22, 1.519,-0.192, 0.972, 2.009, PHS=-0.402,-2.155,-1.040, RAW= 128.9, 39.6, CAL= 141.3, 48.5, ROT= 8.7, -48.5
2025-06-05T06:04:08.353Z,1749103448.353 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-05T06:04:08.354Z,1749103448.354 [DAT](INFO): direction in FSK: [0.654996,0.100228,0.748956]
2025-06-05T06:04:08.360Z,1749103448.360 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:08.365Z,1749103448.365 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=14.860282
2025-06-05T06:04:08.583Z,1749103448.583 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=15.078447
2025-06-05T06:04:08.613Z,1749103448.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.506931 s,
deltaX: -0.300000 m,
approachRate: -0.591797 m/s,
rangeRepo size: 4
2025-06-05T06:04:08.620Z,1749103448.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 0.892758 m,
bearing: 292.047505 deg,
lat: 36.906119 deg,
lon: -122.116044 deg,
deltaT: 1.007982 s,
deltaX: -0.595224 m,
approachRate: -0.590511 m/s,
posRepo size: 4
2025-06-05T06:04:08.841Z,1749103448.841 [DAT](INFO): DAT read: Rx Time:06:04:07.7576
2025-06-05T06:04:08.845Z,1749103448.845 [DAT](INFO): Rx dataTimestamp_ set to:1749103448.844894
2025-06-05T06:04:08.847Z,1749103448.847 [DAT](INFO): DAT read: Bearing 44.9, -56.7 (Local)
2025-06-05T06:04:08.847Z,1749103448.847 [DAT](INFO): Local bearing/azimuth received:
Bearing 44.9, -56.7 (Local)
2025-06-05T06:04:08.849Z,1749103448.849 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip tis) speed 0.0
2025-06-05T06:04:08.853Z,1749103448.853 [DAT](INFO): DAT read: 06:04:07.7511504, 8417, 7154, 10675, AGC= 23, IDX= 508, 0.05,-0.650,-1.877,-1.530,-0.046, PHS=-0.517,-1.784,-1.488, RAW= 102.9, 49.4, CAL= 105.1, 56.7, ROT= 44.9, -56.7
2025-06-05T06:04:08.854Z,1749103448.854 [DAT](INFO): unknown deviceResponse_: 06:04:07.7511504, 8417, 7154, 10675, AGC= 23, IDX= 508, 0.05,-0.650,-1.877,-1.530,-0.046, PHS=-0.517,-1.784,-1.488, RAW= 102.9, 49.4, CAL= 105.1, 56.7, ROT= 44.9, -56.7
2025-06-05T06:04:08.854Z,1749103448.854 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-06-05T06:04:08.855Z,1749103448.855 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=15.350409
2025-06-05T06:04:08.987Z,1749103448.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:08.994Z,1749103448.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.508913 s,
deltaX: 0.300000 m,
approachRate: 0.589492 m/s,
rangeRepo size: 4
2025-06-05T06:04:09.104Z,1749103449.104 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=15.598661
2025-06-05T06:04:09.351Z,1749103449.351 [DAT](INFO): DAT read: Rx Time:06:04:08.2575
2025-06-05T06:04:09.352Z,1749103449.352 [DAT](INFO): Rx dataTimestamp_ set to:1749103449.351559
2025-06-05T06:04:09.353Z,1749103449.353 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:09.354Z,1749103449.354 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-06-05T06:04:09.355Z,1749103449.355 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=15.849819
2025-06-05T06:04:09.372Z,1749103449.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.506665 s,
deltaX: -0.100000 m,
approachRate: -0.197369 m/s,
rangeRepo size: 4
2025-06-05T06:04:09.603Z,1749103449.603 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=16.098236
2025-06-05T06:04:09.739Z,1749103449.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.10 m.
2025-06-05T06:04:09.856Z,1749103449.856 [DAT](INFO): DAT read: Rx Time:06:04:08.7575
2025-06-05T06:04:09.856Z,1749103449.856 [DAT](INFO): Rx dataTimestamp_ set to:1749103449.855888
2025-06-05T06:04:09.857Z,1749103449.857 [DAT](INFO): DAT read: Bearing 86.8, -54.6 (Local)
2025-06-05T06:04:09.858Z,1749103449.858 [DAT](INFO): Local bearing/azimuth received:
Bearing 86.8, -54.6 (Local)
2025-06-05T06:04:09.867Z,1749103449.867 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:09.877Z,1749103449.877 [DAT](INFO): DAT read: 06:04:08.7575 LVL= 13616, 19745, 9202, 16851, AGC= 26, IDX= 507,-0.21,-0.059,-0.646,-1.057, 0.481, PHS=-0.452,-1.079,-1.541, RAW= 65.1, 48.9, CAL= 63.2, 54.6, ROT= 86.8, -54.6
2025-06-05T06:04:09.890Z,1749103449.890 [DAT](INFO): got valid direction response:
06:04:08.7575 LVL= 13616, 19745, 9202, 16851, AGC= 26, IDX= 507,-0.21,-0.059,-0.646,-1.057, 0.481, PHS=-0.452,-1.079,-1.541, RAW= 65.1, 48.9, CAL= 63.2, 54.6, ROT= 86.8, -54.6
2025-06-05T06:04:09.891Z,1749103449.891 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-06-05T06:04:09.893Z,1749103449.893 [DAT](INFO): direction in FSK: [0.032336,0.578378,0.815128]
2025-06-05T06:04:09.893Z,1749103449.893 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:09.923Z,1749103449.923 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=16.408669
2025-06-05T06:04:10.111Z,1749103450.111 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=16.604689
2025-06-05T06:04:10.345Z,1749103450.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.504329 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:10.355Z,1749103450.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091063 m,
bearing: 32.337468 deg,
lat: 36.906119 deg,
lon: -122.116044 deg,
deltaT: 1.519907 s,
deltaX: 0.198305 m,
approachRate: 0.130472 m/s,
posRepo size: 4
2025-06-05T06:04:10.356Z,1749103450.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 1.10 m.
2025-06-05T06:04:10.356Z,1749103450.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-06-05T06:04:10.362Z,1749103450.362 [DAT](INFO): DAT read: Rx Time:06:04:09.2574
2025-06-05T06:04:10.362Z,1749103450.362 [DAT](INFO): Rx dataTimestamp_ set to:1749103450.361751
2025-06-05T06:04:10.363Z,1749103450.363 [DAT](INFO): DAT read: Bearing 58.0, -52.7 (Local)
2025-06-05T06:04:10.364Z,1749103450.364 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.0, -52.7 (Local)
2025-06-05T06:04:10.366Z,1749103450.366 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:10.370Z,1749103450.370 [DAT](INFO): DAT read: 06:04:09.2574 LVL= 14928, 15937, 11170, 18403, AGC= 27, IDX= 506,-0.09,-1.840,-2.896,-2.804,-1.427, PHS=-0.325,-1.422,-1.380, RAW= 91.9, 45.8, CAL= 92.0, 52.7, ROT= 58.0, -52.7
2025-06-05T06:04:10.371Z,1749103450.371 [DAT](INFO): got valid direction response:
06:04:09.2574 LVL= 14928, 15937, 11170, 18403, AGC= 27, IDX= 506,-0.09,-1.840,-2.896,-2.804,-1.427, PHS=-0.325,-1.422,-1.380, RAW= 91.9, 45.8, CAL= 92.0, 52.7, ROT= 58.0, -52.7
2025-06-05T06:04:10.372Z,1749103450.372 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-05T06:04:10.373Z,1749103450.373 [DAT](INFO): direction in FSK: [0.321125,0.513907,0.795473]
2025-06-05T06:04:10.373Z,1749103450.373 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:10.381Z,1749103450.381 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=16.875795
2025-06-05T06:04:10.612Z,1749103450.612 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=17.107141
2025-06-05T06:04:10.731Z,1749103450.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.505863 s,
deltaX: -0.200000 m,
approachRate: -0.395364 m/s,
rangeRepo size: 4
2025-06-05T06:04:10.733Z,1749103450.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 0.892698 m,
bearing: 359.186115 deg,
lat: 36.906119 deg,
lon: -122.116044 deg,
deltaT: 0.505863 s,
deltaX: -0.198365 m,
approachRate: -0.392132 m/s,
posRepo size: 4
2025-06-05T06:04:10.864Z,1749103450.864 [DAT](INFO): DAT read: Rx Time:06:04:09.7575
2025-06-05T06:04:10.864Z,1749103450.864 [DAT](INFO): Rx dataTimestamp_ set to:1749103450.864102
2025-06-05T06:04:10.866Z,1749103450.866 [DAT](INFO): DAT read: Bearing 40.7, -52.0 (Local)
2025-06-05T06:04:10.866Z,1749103450.866 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.7, -52.0 (Local)
2025-06-05T06:04:10.868Z,1749103450.868 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:10.873Z,1749103450.873 [DAT](INFO): DAT read: 06:04:09.7575 LVL= 13808, 13361, 10338, 16419, AGC= 27, IDX= 507,-0.05,-0.758,-2.180,-1.721,-0.356, PHS=-0.315,-1.778,-1.368, RAW= 105.8, 43.1, CAL= 109.3, 52.0, ROT= 40.7, -52.0
2025-06-05T06:04:10.874Z,1749103450.874 [DAT](INFO): got valid direction response:
06:04:09.7575 LVL= 13808, 13361, 10338, 16419, AGC= 27, IDX= 507,-0.05,-0.758,-2.180,-1.721,-0.356, PHS=-0.315,-1.778,-1.368, RAW= 105.8, 43.1, CAL= 109.3, 52.0, ROT= 40.7, -52.0
2025-06-05T06:04:10.874Z,1749103450.874 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-06-05T06:04:10.877Z,1749103450.877 [DAT](INFO): direction in FSK: [0.466754,0.401472,0.788011]
2025-06-05T06:04:10.877Z,1749103450.877 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:10.881Z,1749103450.881 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=17.375698
2025-06-05T06:04:10.883Z,1749103450.883 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T06:04:10.883Z,1749103450.883 [DockingStepper](INFO): Standby mode.
2025-06-05T06:04:10.943Z,1749103450.943 [DockingStepper](INFO): Commanding positive:54586
2025-06-05T06:04:11.125Z,1749103451.125 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=17.619913
2025-06-05T06:04:11.205Z,1749103451.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.502351 s,
deltaX: 0.200000 m,
approachRate: 0.398128 m/s,
rangeRepo size: 4
2025-06-05T06:04:11.212Z,1749103451.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091075 m,
bearing: 336.972662 deg,
lat: 36.906123 deg,
lon: -122.116046 deg,
deltaT: 0.502351 s,
deltaX: 0.198377 m,
approachRate: 0.394898 m/s,
posRepo size: 4
2025-06-05T06:04:11.378Z,1749103451.378 [DAT](INFO): DAT read: Rx Time:06:04:10.2574
2025-06-05T06:04:11.378Z,1749103451.378 [DAT](INFO): Rx dataTimestamp_ set to:1749103451.377929
2025-06-05T06:04:11.379Z,1749103451.379 [DAT](INFO): DAT read: Bearing 23.9, -48.2 (Local)
2025-06-05T06:04:11.380Z,1749103451.380 [DAT](INFO): Local bearing/azimuth received:
Bearing 23.9, -48.2 (Local)
2025-06-05T06:04:11.382Z,1749103451.382 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:11.387Z,1749103451.387 [DAT](INFO): DAT read: 06:04:10.2574 LVL= 12528, 10769, 9970, 14355, AGC= 26, IDX= 506,-0.03,-1.338, 3.029,-2.313,-1.002, PHS=-0.248,-2.205,-1.314, RAW= 117.0, 38.1, CAL= 126.1, 48.2, ROT= 23.9, -48.2
2025-06-05T06:04:11.388Z,1749103451.388 [DAT](INFO): got valid direction response:
06:04:10.2574 LVL= 12528, 10769, 9970, 14355, AGC= 26, IDX= 506,-0.03,-1.338, 3.029,-2.313,-1.002, PHS=-0.248,-2.205,-1.314, RAW= 117.0, 38.1, CAL= 126.1, 48.2, ROT= 23.9, -48.2
2025-06-05T06:04:11.388Z,1749103451.388 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-06-05T06:04:11.389Z,1749103451.389 [DAT](INFO): direction in FSK: [0.609380,0.270040,0.745476]
2025-06-05T06:04:11.389Z,1749103451.389 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:11.403Z,1749103451.403 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=17.898228
2025-06-05T06:04:11.628Z,1749103451.628 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=18.123156
2025-06-05T06:04:11.759Z,1749103451.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.513827 s,
deltaX: -0.200000 m,
approachRate: -0.389236 m/s,
rangeRepo size: 4
2025-06-05T06:04:11.767Z,1749103451.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 0.892703 m,
bearing: 324.159690 deg,
lat: 36.906123 deg,
lon: -122.116048 deg,
deltaT: 0.513827 s,
deltaX: -0.198372 m,
approachRate: -0.386068 m/s,
posRepo size: 4
2025-06-05T06:04:11.880Z,1749103451.880 [DAT](INFO): DAT read: Rx Time:06:04:10.7575
2025-06-05T06:04:11.881Z,1749103451.881 [DAT](INFO): Rx dataTimestamp_ set to:1749103451.880021
2025-06-05T06:04:11.883Z,1749103451.883 [DAT](INFO): DAT read: Bearing 20.7, -48.7 (Local)
2025-06-05T06:04:11.883Z,1749103451.883 [DAT](INFO): Local bearing/azimuth received:
Bearing 20.7, -48.7 (Local)
2025-06-05T06:04:11.888Z,1749103451.888 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:11.899Z,1749103451.899 [DAT](INFO): DAT read: 06:04:10.7575 LVL= 12624, 10545, 10594, 14099, AGC= 26, IDX= 507,-0.04, 0.370,-1.589,-0.553, 0.767, PHS=-0.309,-2.308,-1.323, RAW= 119.5, 38.8, CAL= 129.3, 48.7, ROT= 20.7, -48.7
2025-06-05T06:04:11.901Z,1749103451.901 [DAT](INFO): got valid direction response:
06:04:10.7575 LVL= 12624, 10545, 10594, 14099, AGC= 26, IDX= 507,-0.04, 0.370,-1.589,-0.553, 0.767, PHS=-0.309,-2.308,-1.323, RAW= 119.5, 38.8, CAL= 129.3, 48.7, ROT= 20.7, -48.7
2025-06-05T06:04:11.902Z,1749103451.902 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-05T06:04:11.903Z,1749103451.903 [DAT](INFO): direction in FSK: [0.617395,0.233294,0.751264]
2025-06-05T06:04:11.904Z,1749103451.904 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:11.929Z,1749103451.929 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=18.423962
2025-06-05T06:04:12.108Z,1749103452.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.502092 s,
deltaX: 0.200000 m,
approachRate: 0.398333 m/s,
rangeRepo size: 4
2025-06-05T06:04:12.114Z,1749103452.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091081 m,
bearing: 322.993745 deg,
lat: 36.906124 deg,
lon: -122.116052 deg,
deltaT: 0.502092 s,
deltaX: 0.198378 m,
approachRate: 0.395104 m/s,
posRepo size: 4
2025-06-05T06:04:12.133Z,1749103452.133 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=18.627951
2025-06-05T06:04:12.384Z,1749103452.384 [DAT](INFO): DAT read: Rx Time:06:04:11.2574
2025-06-05T06:04:12.384Z,1749103452.384 [DAT](INFO): Rx dataTimestamp_ set to:1749103452.384038
2025-06-05T06:04:12.386Z,1749103452.386 [DAT](INFO): DAT read: Bearing 112.4, -49.7 (Local)
2025-06-05T06:04:12.386Z,1749103452.386 [DAT](INFO): Local bearing/azimuth received:
Bearing 112.4, -49.7 (Local)
2025-06-05T06:04:12.388Z,1749103452.388 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:12.394Z,1749103452.394 [DAT](INFO): DAT read: 06:04:11.2574 LVL= 13648, 12785, 10866, 13811, AGC= 26, IDX= 506,-0.03,-0.471,-0.628,-1.361, 0.056, PHS=-0.439,-0.637,-1.419, RAW= 41.0, 44.5, CAL= 37.6, 49.7, ROT= 112.4, -49.7
2025-06-05T06:04:12.396Z,1749103452.396 [DAT](INFO): got valid direction response:
06:04:11.2574 LVL= 13648, 12785, 10866, 13811, AGC= 26, IDX= 506,-0.03,-0.471,-0.628,-1.361, 0.056, PHS=-0.439,-0.637,-1.419, RAW= 41.0, 44.5, CAL= 37.6, 49.7, ROT= 112.4, -49.7
2025-06-05T06:04:12.396Z,1749103452.396 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-05T06:04:12.397Z,1749103452.397 [DAT](INFO): direction in FSK: [-0.246472,0.597987,0.762668]
2025-06-05T06:04:12.397Z,1749103452.397 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:12.411Z,1749103452.411 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=18.906502
2025-06-05T06:04:12.610Z,1749103452.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.504017 s,
deltaX: -0.200000 m,
approachRate: -0.396812 m/s,
rangeRepo size: 4
2025-06-05T06:04:12.613Z,1749103452.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 0.892703 m,
bearing: 69.792481 deg,
lat: 36.906124 deg,
lon: -122.116052 deg,
deltaT: 0.504017 s,
deltaX: -0.198378 m,
approachRate: -0.393595 m/s,
posRepo size: 4
2025-06-05T06:04:12.635Z,1749103452.635 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=19.130318
2025-06-05T06:04:12.888Z,1749103452.888 [DAT](INFO): DAT read: Rx Time:06:04:11.7575
2025-06-05T06:04:12.888Z,1749103452.888 [DAT](INFO): Rx dataTimestamp_ set to:1749103452.887806
2025-06-05T06:04:12.889Z,1749103452.889 [DAT](INFO): DAT read: Bearing 106.4, -49.0 (Local)
2025-06-05T06:04:12.890Z,1749103452.890 [DAT](INFO): Local bearing/azimuth received:
Bearing 106.4, -49.0 (Local)
2025-06-05T06:04:12.893Z,1749103452.893 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:12.898Z,1749103452.898 [DAT](INFO): DAT read: 06:04:11.7575 LVL= 13488, 12785, 11826, 16243, AGC= 25, IDX= 507, 0.02, 1.460, 1.198, 0.524, 1.921, PHS=-0.373,-0.676,-1.400, RAW= 46.7, 43.4, CAL= 43.6, 49.0, ROT= 106.4, -49.0
2025-06-05T06:04:12.899Z,1749103452.899 [DAT](INFO): got valid direction response:
06:04:11.7575 LVL= 13488, 12785, 11826, 16243, AGC= 25, IDX= 507, 0.02, 1.460, 1.198, 0.524, 1.921, PHS=-0.373,-0.676,-1.400, RAW= 46.7, 43.4, CAL= 43.6, 49.0, ROT= 106.4, -49.0
2025-06-05T06:04:12.900Z,1749103452.900 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-05T06:04:12.900Z,1749103452.900 [DAT](INFO): direction in FSK: [-0.185233,0.629367,0.754710]
2025-06-05T06:04:12.901Z,1749103452.901 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:12.904Z,1749103452.904 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=19.399567
2025-06-05T06:04:13.090Z,1749103453.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.503768 s,
deltaX: 0.200000 m,
approachRate: 0.397008 m/s,
rangeRepo size: 4
2025-06-05T06:04:13.100Z,1749103453.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091087 m,
bearing: 65.023019 deg,
lat: 36.906124 deg,
lon: -122.116052 deg,
deltaT: 0.503768 s,
deltaX: 0.198385 m,
approachRate: 0.393802 m/s,
posRepo size: 4
2025-06-05T06:04:13.143Z,1749103453.143 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=19.636961
2025-06-05T06:04:13.393Z,1749103453.393 [DAT](INFO): DAT read: Rx Time:06:04:12.2574
2025-06-05T06:04:13.394Z,1749103453.394 [DAT](INFO): Rx dataTimestamp_ set to:1749103453.393012
2025-06-05T06:04:13.395Z,1749103453.395 [DAT](INFO): DAT read: Bearing 21.2, -48.5 (Local)
2025-06-05T06:04:13.395Z,1749103453.395 [DAT](INFO): Local bearing/azimuth received:
Bearing 21.2, -48.5 (Local)
2025-06-05T06:04:13.397Z,1749103453.397 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:13.402Z,1749103453.402 [DAT](INFO): DAT read: 06:04:12.2574 LVL= 12784, 10465, 9970, 13923, AGC= 26, IDX= 506, 0.12, 0.321,-1.636,-0.614, 0.703, PHS=-0.294,-2.292,-1.321, RAW= 119.1, 38.6, CAL= 128.8, 48.5, ROT= 21.2, -48.5
2025-06-05T06:04:13.403Z,1749103453.403 [DAT](INFO): got valid direction response:
06:04:12.2574 LVL= 12784, 10465, 9970, 13923, AGC= 26, IDX= 506, 0.12, 0.321,-1.636,-0.614, 0.703, PHS=-0.294,-2.292,-1.321, RAW= 119.1, 38.6, CAL= 128.8, 48.5, ROT= 21.2, -48.5
2025-06-05T06:04:13.403Z,1749103453.403 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-05T06:04:13.404Z,1749103453.404 [DAT](INFO): direction in FSK: [0.617776,0.239620,0.748956]
2025-06-05T06:04:13.404Z,1749103453.404 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:13.408Z,1749103453.408 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=19.903021
2025-06-05T06:04:13.617Z,1749103453.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.505206 s,
deltaX: -0.200000 m,
approachRate: -0.395878 m/s,
rangeRepo size: 4
2025-06-05T06:04:13.627Z,1749103453.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 0.892708 m,
bearing: 323.654165 deg,
lat: 36.906124 deg,
lon: -122.116053 deg,
deltaT: 0.505206 s,
deltaX: -0.198380 m,
approachRate: -0.392671 m/s,
posRepo size: 4
2025-06-05T06:04:13.644Z,1749103453.644 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=20.139353
2025-06-05T06:04:13.895Z,1749103453.895 [DAT](INFO): DAT read: Rx Time:06:04:12.7574
2025-06-05T06:04:13.896Z,1749103453.896 [DAT](INFO): Rx dataTimestamp_ set to:1749103453.895659
2025-06-05T06:04:13.897Z,1749103453.897 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:13.898Z,1749103453.898 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-06-05T06:04:13.899Z,1749103453.899 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=20.393896
2025-06-05T06:04:14.001Z,1749103454.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:14.009Z,1749103454.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.502647 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:14.150Z,1749103454.150 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=20.644596
2025-06-05T06:04:14.400Z,1749103454.400 [DAT](INFO): DAT read: Rx Time:06:04:13.2573
2025-06-05T06:04:14.400Z,1749103454.400 [DAT](INFO): Rx dataTimestamp_ set to:1749103454.400081
2025-06-05T06:04:14.402Z,1749103454.402 [DAT](INFO): DAT read: Bearing 330.1, -51.0 (Local)
2025-06-05T06:04:14.402Z,1749103454.402 [DAT](INFO): Local bearing/azimuth received:
Bearing 330.1, -51.0 (Local)
2025-06-05T06:04:14.404Z,1749103454.404 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0
2025-06-05T06:04:14.410Z,1749103454.410 [DAT](INFO): DAT read: 06:04:13.2573 LVL= 13072, 9297, 8402, 9459, AGC= 25, IDX= 508, 0.18,-0.744,-1.617, 0.093, 0.630, PHS=-1.287,-2.200,-0.540, RAW= 176.7, 44.7, CAL= 179.9, 51.0, ROT= 330.1, -51.0
2025-06-05T06:04:14.411Z,1749103454.411 [DAT](INFO): got valid direction response:
06:04:13.2573 LVL= 13072, 9297, 8402, 9459, AGC= 25, IDX= 508, 0.18,-0.744,-1.617, 0.093, 0.630, PHS=-1.287,-2.200,-0.540, RAW= 176.7, 44.7, CAL= 179.9, 51.0, ROT= 330.1, -51.0
2025-06-05T06:04:14.412Z,1749103454.412 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-06-05T06:04:14.413Z,1749103454.413 [DAT](INFO): direction in FSK: [0.545556,-0.313708,0.777146]
2025-06-05T06:04:14.413Z,1749103454.413 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:14.421Z,1749103454.421 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=20.915714
2025-06-05T06:04:14.497Z,1749103454.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.800000 m,
deltaT: 0.504422 s,
deltaX: -0.100000 m,
approachRate: -0.198247 m/s,
rangeRepo size: 4
2025-06-05T06:04:14.501Z,1749103454.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 0.793512 m,
bearing: 275.211626 deg,
lat: 36.906124 deg,
lon: -122.116053 deg,
deltaT: 1.007069 s,
deltaX: -0.099196 m,
approachRate: -0.098500 m/s,
posRepo size: 4
2025-06-05T06:04:14.651Z,1749103454.651 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=21.146488
2025-06-05T06:04:14.904Z,1749103454.904 [DAT](INFO): DAT read: Rx Time:06:04:13.7574
2025-06-05T06:04:14.905Z,1749103454.905 [DAT](INFO): Rx dataTimestamp_ set to:1749103454.904473
2025-06-05T06:04:14.907Z,1749103454.907 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:14.908Z,1749103454.908 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-06-05T06:04:14.911Z,1749103454.911 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=21.404593
2025-06-05T06:04:15.155Z,1749103455.155 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=21.650597
2025-06-05T06:04:15.338Z,1749103455.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.504392 s,
deltaX: 0.100000 m,
approachRate: 0.198258 m/s,
rangeRepo size: 4
2025-06-05T06:04:15.409Z,1749103455.409 [DAT](INFO): DAT read: Rx Time:06:04:14.2574
2025-06-05T06:04:15.410Z,1749103455.410 [DAT](INFO): Rx dataTimestamp_ set to:1749103455.409195
2025-06-05T06:04:15.412Z,1749103455.412 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:15.413Z,1749103455.413 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-06-05T06:04:15.415Z,1749103455.415 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=21.909981
2025-06-05T06:04:15.635Z,1749103455.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.504722 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:15.663Z,1749103455.663 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=22.157820
2025-06-05T06:04:15.915Z,1749103455.915 [DAT](INFO): DAT read: Rx Time:06:04:14.7575
2025-06-05T06:04:15.915Z,1749103455.915 [DAT](INFO): Rx dataTimestamp_ set to:1749103455.914822
2025-06-05T06:04:15.916Z,1749103455.916 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:15.917Z,1749103455.917 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-06-05T06:04:15.918Z,1749103455.918 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=22.412928
2025-06-05T06:04:16.045Z,1749103456.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:16.048Z,1749103456.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.505627 s,
deltaX: 0.200000 m,
approachRate: 0.395549 m/s,
rangeRepo size: 4
2025-06-05T06:04:16.163Z,1749103456.163 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=22.658463
2025-06-05T06:04:16.416Z,1749103456.416 [DAT](INFO): DAT read: Rx Time:06:04:15.2575
2025-06-05T06:04:16.416Z,1749103456.416 [DAT](INFO): Rx dataTimestamp_ set to:1749103456.415967
2025-06-05T06:04:16.417Z,1749103456.417 [DAT](INFO): DAT read: Bearing 323.1, -55.2 (Local)
2025-06-05T06:04:16.418Z,1749103456.418 [DAT](INFO): Local bearing/azimuth received:
Bearing 323.1, -55.2 (Local)
2025-06-05T06:04:16.420Z,1749103456.420 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:16.424Z,1749103456.424 [DAT](INFO): DAT read: 06:04:15.2575 LVL= 15504, 23393, 11858, 15155, AGC= 28, IDX= 509,-0.47, 2.178, 1.515,-3.054,-2.330, PHS=-1.687,-2.391,-0.727, RAW= 185.1, 49.6, CAL= 186.9, 55.2, ROT= 323.1, -55.2
2025-06-05T06:04:16.427Z,1749103456.427 [DAT](INFO): got valid direction response:
06:04:15.2575 LVL= 15504, 23393, 11858, 15155, AGC= 28, IDX= 509,-0.47, 2.178, 1.515,-3.054,-2.330, PHS=-1.687,-2.391,-0.727, RAW= 185.1, 49.6, CAL= 186.9, 55.2, ROT= 323.1, -55.2
2025-06-05T06:04:16.427Z,1749103456.427 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-06-05T06:04:16.428Z,1749103456.428 [DAT](INFO): direction in FSK: [0.456391,-0.342668,0.821149]
2025-06-05T06:04:16.429Z,1749103456.429 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:16.437Z,1749103456.437 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=22.931704
2025-06-05T06:04:16.604Z,1749103456.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.501145 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:16.606Z,1749103456.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091101 m,
bearing: 277.229242 deg,
lat: 36.906123 deg,
lon: -122.116053 deg,
deltaT: 2.015886 s,
deltaX: 0.297589 m,
approachRate: 0.147622 m/s,
posRepo size: 4
2025-06-05T06:04:16.668Z,1749103456.668 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=23.162882
2025-06-05T06:04:16.706Z,1749103456.706 [DockingStepper](INFO): Commanding positive:21980
2025-06-05T06:04:16.920Z,1749103456.920 [DAT](INFO): DAT read: Rx Time:06:04:15.7576
2025-06-05T06:04:16.920Z,1749103456.920 [DAT](INFO): Rx dataTimestamp_ set to:1749103456.919978
2025-06-05T06:04:16.922Z,1749103456.922 [DAT](INFO): DAT read: Bearing 328.2, -55.0 (Local)
2025-06-05T06:04:16.922Z,1749103456.922 [DAT](INFO): Local bearing/azimuth received:
Bearing 328.2, -55.0 (Local)
2025-06-05T06:04:16.924Z,1749103456.924 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:16.931Z,1749103456.931 [DAT](INFO): DAT read: 06:04:15.7576 LVL= 15920, 24193, 13554, 15155, AGC= 28, IDX= 510,-0.33, 2.671, 1.867,-2.720,-1.971, PHS=-1.553,-2.398,-0.752, RAW= 179.1, 49.4, CAL= 181.8, 55.0, ROT= 328.2, -55.0
2025-06-05T06:04:16.932Z,1749103456.932 [DAT](INFO): got valid direction response:
06:04:15.7576 LVL= 15920, 24193, 13554, 15155, AGC= 28, IDX= 510,-0.33, 2.671, 1.867,-2.720,-1.971, PHS=-1.553,-2.398,-0.752, RAW= 179.1, 49.4, CAL= 181.8, 55.0, ROT= 328.2, -55.0
2025-06-05T06:04:16.932Z,1749103456.932 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-06-05T06:04:16.933Z,1749103456.933 [DAT](INFO): direction in FSK: [0.487479,-0.302249,0.819152]
2025-06-05T06:04:16.933Z,1749103456.933 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:16.941Z,1749103456.941 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=23.436150
2025-06-05T06:04:17.031Z,1749103457.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.504011 s,
deltaX: 0.100000 m,
approachRate: 0.198408 m/s,
rangeRepo size: 4
2025-06-05T06:04:17.033Z,1749103457.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.190293 m,
bearing: 285.202178 deg,
lat: 36.906122 deg,
lon: -122.116055 deg,
deltaT: 0.504011 s,
deltaX: 0.099192 m,
approachRate: 0.196805 m/s,
posRepo size: 4
2025-06-05T06:04:17.172Z,1749103457.172 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=23.666851
2025-06-05T06:04:17.423Z,1749103457.423 [DAT](INFO): DAT read: Rx Time:06:04:16.2575
2025-06-05T06:04:17.424Z,1749103457.424 [DAT](INFO): Rx dataTimestamp_ set to:1749103457.423515
2025-06-05T06:04:17.426Z,1749103457.426 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:17.428Z,1749103457.428 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-06-05T06:04:17.429Z,1749103457.429 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=23.924129
2025-06-05T06:04:17.679Z,1749103457.679 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=24.174555
2025-06-05T06:04:17.757Z,1749103457.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.503537 s,
deltaX: -0.100000 m,
approachRate: -0.198595 m/s,
rangeRepo size: 4
2025-06-05T06:04:17.929Z,1749103457.929 [DAT](INFO): DAT read: Rx Time:06:04:16.7575
2025-06-05T06:04:17.929Z,1749103457.929 [DAT](INFO): Rx dataTimestamp_ set to:1749103457.928801
2025-06-05T06:04:17.930Z,1749103457.930 [DAT](INFO): DAT read: Bearing 336.7, -52.6 (Local)
2025-06-05T06:04:17.931Z,1749103457.931 [DAT](INFO): Local bearing/azimuth received:
Bearing 336.7, -52.6 (Local)
2025-06-05T06:04:17.934Z,1749103457.934 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:17.941Z,1749103457.941 [DAT](INFO): DAT read: 06:04:16.7575 LVL= 16176, 23729, 12482, 13235, AGC= 28, IDX= 509,-0.18, 1.118, 0.019, 1.799, 2.537, PHS=-1.330,-2.471,-0.740, RAW= 169.6, 46.5, CAL= 173.3, 52.6, ROT= 336.7, -52.6
2025-06-05T06:04:17.944Z,1749103457.944 [DAT](INFO): got valid direction response:
06:04:16.7575 LVL= 16176, 23729, 12482, 13235, AGC= 28, IDX= 509,-0.18, 1.118, 0.019, 1.799, 2.537, PHS=-1.330,-2.471,-0.740, RAW= 169.6, 46.5, CAL= 173.3, 52.6, ROT= 336.7, -52.6
2025-06-05T06:04:17.944Z,1749103457.944 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-06-05T06:04:17.948Z,1749103457.948 [DAT](INFO): direction in FSK: [0.557842,-0.240245,0.794415]
2025-06-05T06:04:17.948Z,1749103457.948 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:17.961Z,1749103457.961 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=24.455248
2025-06-05T06:04:18.179Z,1749103458.179 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=24.674242
2025-06-05T06:04:18.203Z,1749103458.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.505286 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:18.205Z,1749103458.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091103 m,
bearing: 298.087564 deg,
lat: 36.906121 deg,
lon: -122.116055 deg,
deltaT: 1.008823 s,
deltaX: -0.099190 m,
approachRate: -0.098322 m/s,
posRepo size: 4
2025-06-05T06:04:18.432Z,1749103458.432 [DAT](INFO): DAT read: Rx Time:06:04:17.2574
2025-06-05T06:04:18.433Z,1749103458.433 [DAT](INFO): Rx dataTimestamp_ set to:1749103458.432246
2025-06-05T06:04:18.434Z,1749103458.434 [DAT](INFO): DAT read: Bearing 335.1, -54.3 (Local)
2025-06-05T06:04:18.434Z,1749103458.434 [DAT](INFO): Local bearing/azimuth received:
Bearing 335.1, -54.3 (Local)
2025-06-05T06:04:18.436Z,1749103458.436 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:18.441Z,1749103458.441 [DAT](INFO): DAT read: 06:04:17.2574 LVL= 15408, 24977, 11986, 14291, AGC= 27, IDX= 508,-0.11,-0.221,-1.182, 0.462, 1.216, PHS=-1.348,-2.350,-0.757, RAW= 171.5, 48.5, CAL= 174.9, 54.3, ROT= 335.1, -54.3
2025-06-05T06:04:18.443Z,1749103458.443 [DAT](INFO): got valid direction response:
06:04:17.2574 LVL= 15408, 24977, 11986, 14291, AGC= 27, IDX= 508,-0.11,-0.221,-1.182, 0.462, 1.216, PHS=-1.348,-2.350,-0.757, RAW= 171.5, 48.5, CAL= 174.9, 54.3, ROT= 335.1, -54.3
2025-06-05T06:04:18.444Z,1749103458.444 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-06-05T06:04:18.445Z,1749103458.445 [DAT](INFO): direction in FSK: [0.529298,-0.245692,0.812084]
2025-06-05T06:04:18.445Z,1749103458.445 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:18.453Z,1749103458.453 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=24.948122
2025-06-05T06:04:18.683Z,1749103458.683 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=25.178427
2025-06-05T06:04:18.701Z,1749103458.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.503445 s,
deltaX: -0.200000 m,
approachRate: -0.397263 m/s,
rangeRepo size: 4
2025-06-05T06:04:18.707Z,1749103458.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 0.892716 m,
bearing: 295.890482 deg,
lat: 36.906121 deg,
lon: -122.116055 deg,
deltaT: 0.503445 s,
deltaX: -0.198386 m,
approachRate: -0.394058 m/s,
posRepo size: 4
2025-06-05T06:04:18.936Z,1749103458.936 [DAT](INFO): DAT read: Rx Time:06:04:17.7575
2025-06-05T06:04:18.936Z,1749103458.936 [DAT](INFO): Rx dataTimestamp_ set to:1749103458.936001
2025-06-05T06:04:18.937Z,1749103458.937 [DAT](INFO): DAT read: Bearing 132.9, -53.8 (Local)
2025-06-05T06:04:18.938Z,1749103458.938 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.9, -53.8 (Local)
2025-06-05T06:04:18.940Z,1749103458.940 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:18.945Z,1749103458.945 [DAT](INFO): DAT read: 06:04:17.7575 LVL= 12432, 23585, 10594, 13187, AGC= 28, IDX= 506, 0.44,-2.935,-2.675, 2.269,-1.698, PHS=-1.149,-0319, RAW= 21., CAL= 17.1, 53.8, ROT= 13.8
2025-06-05T06:04:18.947Z,1749103458.947 [DAT](INFO): unknown deviceResponse_: 06:04:17.7575 LVL= 12432, 23585, 10594, 13187, AGC= 28, IDX= 506, 0.44,-2.935,-2.675, 2.269,-1.698, PHS=-1.149,-0319, RAW= 21., CAL= 17.1, 53.8, ROT= 13.8
2025-06-05T06:04:18.947Z,1749103458.947 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-06-05T06:04:18.948Z,1749103458.948 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=25.443001
2025-06-05T06:04:19.120Z,1749103459.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:19.123Z,1749103459.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.503755 s,
deltaX: 0.200000 m,
approachRate: 0.397018 m/s,
rangeRepo size: 4
2025-06-05T06:04:19.188Z,1749103459.188 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=25.683189
2025-06-05T06:04:19.223Z,1749103459.223 [DockingStepper](INFO): Commanding positive:21573
2025-06-05T06:04:19.440Z,1749103459.440 [DAT](INFO): DAT read: Rx Time:06:04:18.2574
2025-06-05T06:04:19.440Z,1749103459.440 [DAT](INFO): Rx dataTimestamp_ set to:1749103459.439887
2025-06-05T06:04:19.442Z,1749103459.442 [DAT](INFO): DAT read: Bearing 299.0, -46.5 (Local)
2025-06-05T06:04:19.443Z,1749103459.443 [DAT](INFO): Local bearing/azimuth received:
Bearing 299.0, -46.5 (Local)
2025-06-05T06:04:19.446Z,1749103459.446 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:19.450Z,1749103459.450 [DAT](INFO): DAT read: 06:04:18.2574 LVL= 13808, 27073, 10098, 15219, AGC= 28, IDX= 506, 0.22,-0.117, 0.029, 1.472, 1.538, PHS=-1.568,-1.463,-0.069, RAW= 213.6, 37.1, CAL= 211.0, 46.5, ROT= 299.0, -46.5
2025-06-05T06:04:19.451Z,1749103459.451 [DAT](INFO): got valid direction response:
06:04:18.2574 LVL= 13808, 27073, 10098, 15219, AGC= 28, IDX= 506, 0.22,-0.117, 0.029, 1.472, 1.538, PHS=-1.568,-1.463,-0.069, RAW= 213.6, 37.1, CAL= 211.0, 46.5, ROT= 299.0, -46.5
2025-06-05T06:04:19.452Z,1749103459.452 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-06-05T06:04:19.453Z,1749103459.453 [DAT](INFO): direction in FSK: [0.333721,-0.602048,0.725374]
2025-06-05T06:04:19.453Z,1749103459.453 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:19.482Z,1749103459.482 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=25.976730
2025-06-05T06:04:19.661Z,1749103459.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.503886 s,
deltaX: -0.200000 m,
approachRate: -0.396915 m/s,
rangeRepo size: 4
2025-06-05T06:04:19.667Z,1749103459.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 0.892716 m,
bearing: 269.177026 deg,
lat: 36.906121 deg,
lon: -122.116054 deg,
deltaT: 1.007641 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-05T06:04:19.691Z,1749103459.691 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=26.186338
2025-06-05T06:04:19.945Z,1749103459.945 [DAT](INFO): DAT read: Rx Time:06:04:18.7575
2025-06-05T06:04:19.945Z,1749103459.945 [DAT](INFO): Rx dataTimestamp_ set to:1749103459.945099
2025-06-05T06:04:19.947Z,1749103459.947 [DAT](INFO): DAT read: Bearing 278.9, -54.3 (Local)
2025-06-05T06:04:19.947Z,1749103459.947 [DAT](INFO): Local bearing/azimuth received:
Bearing 278.9, -54.3 (Local)
2025-06-05T06:04:19.949Z,1749103459.949 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:19.954Z,1749103459.954 [DAT](INFO): DAT read: 06:04:18.7575 LVL= 19184, 24385, 11938, 18483, AGC= 29, IDX= 508,-0.29, 1.289, 1.775, 2.958,-2.878, PHS=-2.028,-1.583,-0.450, RAW= 225.9, 45.5, CAL= 231.1, 54.3, ROT= 278.9, -54.3
2025-06-05T06:04:19.955Z,1749103459.955 [DAT](INFO): got valid direction response:
06:04:18.7575 LVL= 19184, 24385, 11938, 18483, AGC= 29, IDX= 508,-0.29, 1.289, 1.775, 2.958,-2.878, PHS=-2.028,-1.583,-0.450, RAW= 225.9, 45.5, CAL= 231.1, 54.3, ROT= 278.9, -54.3
2025-06-05T06:04:19.955Z,1749103459.955 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-06-05T06:04:19.956Z,1749103459.956 [DAT](INFO): direction in FSK: [0.090280,-0.576515,0.812084]
2025-06-05T06:04:19.957Z,1749103459.957 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:19.966Z,1749103459.966 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=26.457241
2025-06-05T06:04:20.065Z,1749103460.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.505212 s,
deltaX: 0.200000 m,
approachRate: 0.395874 m/s,
rangeRepo size: 4
2025-06-05T06:04:20.071Z,1749103460.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091084 m,
bearing: 250.535131 deg,
lat: 36.906120 deg,
lon: -122.116054 deg,
deltaT: 0.505212 s,
deltaX: 0.198368 m,
approachRate: 0.392643 m/s,
posRepo size: 4
2025-06-05T06:04:20.196Z,1749103460.196 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=26.690928
2025-06-05T06:04:20.447Z,1749103460.447 [DAT](INFO): DAT read: Rx Time:06:04:19.2574
2025-06-05T06:04:20.448Z,1749103460.448 [DAT](INFO): Rx dataTimestamp_ set to:1749103460.447549
2025-06-05T06:04:20.449Z,1749103460.449 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:20.450Z,1749103460.450 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-06-05T06:04:20.451Z,1749103460.451 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=26.945776
2025-06-05T06:04:20.699Z,1749103460.699 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=27.194424
2025-06-05T06:04:20.812Z,1749103460.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.502450 s,
deltaX: -0.200000 m,
approachRate: -0.398050 m/s,
rangeRepo size: 4
2025-06-05T06:04:20.951Z,1749103460.951 [DAT](INFO): DAT read: Rx Time:06:04:19.7574
2025-06-05T06:04:20.952Z,1749103460.952 [DAT](INFO): Rx dataTimestamp_ set to:1749103460.951471
2025-06-05T06:04:20.953Z,1749103460.953 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:20.953Z,1749103460.953 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-06-05T06:04:20.955Z,1749103460.955 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=27.449690
2025-06-05T06:04:21.128Z,1749103461.128 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2025-06-05T06:04:21.128Z,1749103461.128 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2025-06-05T06:04:21.128Z,1749103461.128 [ThrusterServo] Communications Fault, FailCount= 1
2025-06-05T06:04:21.128Z,1749103461.128 [ThrusterServo](ERROR): Communications Fault
2025-06-05T06:04:21.132Z,1749103461.132 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2025-06-05T06:04:21.203Z,1749103461.203 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=27.698481
2025-06-05T06:04:21.211Z,1749103461.211 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T06:04:21.335Z,1749103461.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:21.343Z,1749103461.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.503922 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:21.456Z,1749103461.456 [DAT](INFO): DAT read: Rx Time:06:04:20.2573
2025-06-05T06:04:21.456Z,1749103461.456 [DAT](INFO): Rx dataTimestamp_ set to:1749103461.455734
2025-06-05T06:04:21.457Z,1749103461.457 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0
2025-06-05T06:04:21.458Z,1749103461.458 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-06-05T06:04:21.461Z,1749103461.461 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=27.955257
2025-06-05T06:04:21.599Z,1749103461.599 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2025-06-05T06:04:21.599Z,1749103461.599 [ThrusterServo](INFO): Powering down
2025-06-05T06:04:21.707Z,1749103461.707 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=28.202473
2025-06-05T06:04:21.711Z,1749103461.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.800000 m,
deltaT: 0.504263 s,
deltaX: -0.100000 m,
approachRate: -0.198309 m/s,
rangeRepo size: 4
2025-06-05T06:04:21.827Z,1749103461.827 [DockingStepper](INFO): Commanding positive:21395
2025-06-05T06:04:21.855Z,1749103461.855 [DockingStepper](FAULT): Timed out moving from: 12975 to: 16450 response: ÿ
2025-06-05T06:04:21.855Z,1749103461.855 [DockingStepper] Hardware Fault, FailCount= 1
2025-06-05T06:04:21.855Z,1749103461.855 [DockingStepper](ERROR): Hardware Fault
2025-06-05T06:04:21.962Z,1749103461.962 [DAT](INFO): DAT read: Rx Time:06:04:20.7574
2025-06-05T06:04:21.962Z,1749103461.962 [DAT](INFO): Rx dataTimestamp_ set to:1749103461.962204
2025-06-05T06:04:21.964Z,1749103461.964 [DAT](INFO): DAT read: Bearing 113.2, -55.7 (Local)
2025-06-05T06:04:21.964Z,1749103461.964 [DAT](INFO): Local bearing/azimuth received:
Bearing 113.2, -55.7 (Local)
2025-06-05T06:04:21.966Z,1749103461.966 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:21.974Z,1749103461.974 [DAT](INFO): DAT read: 06:04:20.7574 LVL= 15216, 8161, 15330, 11507, AGC= 27, IDX= 505,-0.41,-0.970,-1.133,-2.003,-0.106, PHS=-0.776,-0.980,-1.900, RAW= 39.8, 51.3, CAL= 36.8, 55.7, ROT= 113.2, -55.7
2025-06-05T06:04:21.994Z,1749103461.994 [DAT](INFO): got valid direction response:
06:04:20.7574 LVL= 15216, 8161, 15330, 11507, AGC= 27, IDX= 505,-0.41,-0.970,-1.133,-2.003,-0.106, PHS=-0.776,-0.980,-1.900, RAW= 39.8, 51.3, CAL= 36.8, 55.7, ROT= 113.2, -55.7
2025-06-05T06:04:22.008Z,1749103462.008 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-06-05T06:04:22.015Z,1749103462.015 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-06-05T06:04:22.016Z,1749103462.016 [DAT](INFO): direction in FSK: [-0.221996,0.517957,0.826098]
2025-06-05T06:04:22.016Z,1749103462.016 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:22.024Z,1749103462.024 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=28.518873
2025-06-05T06:04:22.133Z,1749103462.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.506470 s,
deltaX: 0.100000 m,
approachRate: 0.197445 m/s,
rangeRepo size: 4
2025-06-05T06:04:22.139Z,1749103462.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 0.892731 m,
bearing: 101.335591 deg,
lat: 36.906117 deg,
lon: -122.116054 deg,
deltaT: 2.017105 s,
deltaX: -0.198353 m,
approachRate: -0.098336 m/s,
posRepo size: 4
2025-06-05T06:04:22.166Z,1749103462.166 [DockingStepper](INFO): Stop
2025-06-05T06:04:22.166Z,1749103462.166 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-05T06:04:22.166Z,1749103462.166 [DockingStepper](INFO): Powering down
2025-06-05T06:04:22.211Z,1749103462.211 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=28.706600
2025-06-05T06:04:22.355Z,1749103462.355 [ThrusterServo](DEBUG): Initializing EZServoServo.
2025-06-05T06:04:22.355Z,1749103462.355 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2025-06-05T06:04:22.359Z,1749103462.359 [CBIT](INFO): Clearing failed state for component ThrusterServo
2025-06-05T06:04:22.359Z,1749103462.359 [ThrusterServo] No Fault, FailCount= 1
2025-06-05T06:04:22.464Z,1749103462.464 [DAT](INFO): DAT read: Rx Time:06:04:21.2574
2025-06-05T06:04:22.464Z,1749103462.464 [DAT](INFO): Rx dataTimestamp_ set to:1749103462.464009
2025-06-05T06:04:22.466Z,1749103462.466 [DAT](INFO): DAT read: Bearing 109.8, -53.3 (Local)
2025-06-05T06:04:22.466Z,1749103462.466 [DAT](INFO): Local bearing/azimuth received:
Bearing 109.8, -53.3 (Local)
2025-06-05T06:04:22.468Z,1749103462.468 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:22.473Z,1749103462.473 [DAT](INFO): DAT read: 06:04:21.2574 LVL= 12368, 8881, 12098, 9363, AGC= 25, IDX= 504,-0.21, 2.548, 2.292, 1.396,-2.965, PHS=-0.683,-0.979,-1.926, RAW= 43.2, 48.4, CAL= 40.2, 53.3, ROT= 109.8, -53.3
2025-06-05T06:04:22.474Z,1749103462.474 [DAT](INFO): got valid direction response:
06:04:21.2574 LVL= 12368, 8881, 12098, 9363, AGC= 25, IDX= 504,-0.21, 2.548, 2.292, 1.396,-2.965, PHS=-0.683,-0.979,-1.926, RAW= 43.2, 48.4, CAL= 40.2, 53.3, ROT= 109.8, -53.3
2025-06-05T06:04:22.475Z,1749103462.475 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-06-05T06:04:22.477Z,1749103462.477 [DAT](INFO): direction in FSK: [-0.202438,0.562294,0.801776]
2025-06-05T06:04:22.478Z,1749103462.478 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:22.481Z,1749103462.481 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=28.976505
2025-06-05T06:04:22.568Z,1749103462.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.501805 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:22.576Z,1749103462.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 0.892731 m,
bearing: 97.751435 deg,
lat: 36.906116 deg,
lon: -122.116052 deg,
deltaT: 0.501805 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-05T06:04:22.644Z,1749103462.644 [DockingStepper](INFO): Stopping
2025-06-05T06:04:22.715Z,1749103462.715 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=29.210342
2025-06-05T06:04:22.947Z,1749103462.947 [DockingStepper](INFO): Stopping
2025-06-05T06:04:22.968Z,1749103462.968 [DAT](INFO): DAT read: Rx Time:06:04:21.7575
2025-06-05T06:04:22.969Z,1749103462.969 [DAT](INFO): Rx dataTimestamp_ set to:1749103462.968367
2025-06-05T06:04:22.970Z,1749103462.970 [DAT](INFO): DAT read: Bearing 107.6, -54.1 (Local)
2025-06-05T06:04:22.970Z,1749103462.970 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.6, -54.1 (Local)
2025-06-05T06:04:22.972Z,1749103462.972 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:22.980Z,1749103462.980 [DAT](INFO): DAT read: 06:04:21.7575 LVL= 11824, 14225, 13186, 10723, AGC= 26, IDX= 505,-0.12, 2.878, 2.578, 1.714,-2.619, PHS=-0.698,-1.040,-1.953, RAW= 45.3, 49.3, CAL= 42.4, 54.1, ROT= 107.6, -54.1
2025-06-05T06:04:22.981Z,1749103462.981 [DAT](INFO): got valid direction response:
06:04:21.7575 LVL= 11824, 14225, 13186, 10723, AGC= 26, IDX= 505,-0.12, 2.878, 2.578, 1.714,-2.619, PHS=-0.698,-1.040,-1.953, RAW= 45.3, 49.3, CAL= 42.4, 54.1, ROT= 107.6, -54.1
2025-06-05T06:04:22.981Z,1749103462.981 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-06-05T06:04:22.983Z,1749103462.983 [DAT](INFO): direction in FSK: [-0.177301,0.558925,0.810042]
2025-06-05T06:04:22.983Z,1749103462.983 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:22.991Z,1749103462.991 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=29.485922
2025-06-05T06:04:23.219Z,1749103463.219 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=29.714293
2025-06-05T06:04:23.371Z,1749103463.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.504358 s,
deltaX: 0.200000 m,
approachRate: 0.396544 m/s,
rangeRepo size: 4
2025-06-05T06:04:23.373Z,1749103463.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091104 m,
bearing: 96.871196 deg,
lat: 36.906116 deg,
lon: -122.116041 deg,
deltaT: 0.504358 s,
deltaX: 0.198373 m,
approachRate: 0.393319 m/s,
posRepo size: 4
2025-06-05T06:04:23.416Z,1749103463.416 [DockingStepper](INFO): Stopping
2025-06-05T06:04:23.523Z,1749103463.523 [DAT](INFO): DAT read: Rx Time:06:04:22.2575
2025-06-05T06:04:23.523Z,1749103463.523 [DAT](INFO): Rx dataTimestamp_ set to:1749103463.523115
2025-06-05T06:04:23.525Z,1749103463.525 [DAT](INFO): DAT read: Bearing 110.2, -49.5 (Local)
2025-06-05T06:04:23.526Z,1749103463.526 [DAT](INFO): Local bearing/azimuth received:
Bearing 110.2, -49.5 (Local)
2025-06-05T06:04:23.540Z,1749103463.540 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:23.566Z,1749103463.566 [DAT](INFO): DAT read: 06:04:22.2575 LVL= 11008, 10289, 12834, 11155, AGC= 26, IDX= 504,-0.02, 1.558, 1.274, 0.279, 2.217, PHS=-0.570,-0.895,-1.940, RAW= 43.1, 44.2, CAL= 39.8, 49.5, ROT= 110.2, -49.5
2025-06-05T06:04:23.576Z,1749103463.576 [DAT](INFO): got valid direction response:
06:04:22.2575 LVL= 11008, 10289, 12834, 11155, AGC= 26, IDX= 504,-0.02, 1.558, 1.274, 0.279, 2.217, PHS=-0.570,-0.895,-1.940, RAW= 43.1, 44.2, CAL= 39.8, 49.5, ROT= 110.2, -49.5
2025-06-05T06:04:23.577Z,1749103463.577 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-06-05T06:04:23.586Z,1749103463.586 [DAT](INFO): direction in FSK: [-0.224253,0.609502,0.760406]
2025-06-05T06:04:23.587Z,1749103463.587 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:23.591Z,1749103463.591 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=30.086254
2025-06-05T06:04:23.723Z,1749103463.723 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=30.218433
2025-06-05T06:04:23.751Z,1749103463.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.554748 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:23.760Z,1749103463.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091087 m,
bearing: 98.600224 deg,
lat: 36.906116 deg,
lon: -122.116041 deg,
deltaT: 0.554748 s,
deltaX: -0.000017 m,
approachRate: -0.000031 m/s,
posRepo size: 4
2025-06-05T06:04:23.853Z,1749103463.853 [DockingStepper](INFO): Stopping
2025-06-05T06:04:23.977Z,1749103463.977 [DAT](INFO): DAT read: Rx Time:06:04:22.7576
2025-06-05T06:04:23.977Z,1749103463.977 [DAT](INFO): Rx dataTimestamp_ set to:1749103463.977125
2025-06-05T06:04:23.979Z,1749103463.979 [DAT](INFO): DAT read: Bearing 108.7, -53.2 (Local)
2025-06-05T06:04:23.979Z,1749103463.979 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.7, -53.2 (Local)
2025-06-05T06:04:23.981Z,1749103463.981 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:23.986Z,1749103463.986 [DAT](INFO): DAT read: 06:04:22.7576 LVL= 11120, 12673, 12914, 11251, AGC= 26, IDX= 505,-0.01,-2.920, 3.082, 2.196,-2.1-0.672,-0.993,-1.930, RAW= 44.3, 48.3, CAL= 41.3, 53.2, ROT= 108.7, -53.2
2025-06-05T06:04:23.987Z,1749103463.987 [DAT](INFO): unknown deviceResponse_: 06:04:22.7576 LVL= 11120, 12673, 12914, 11251, AGC= 26, IDX= 505,-0.01,-2.920, 3.082, 2.196,-2.1-0.672,-0.993,-1.930, RAW= 44.3, 48.3, CAL= 41.3, 53.2, ROT= 108.7, -53.2
2025-06-05T06:04:23.987Z,1749103463.987 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-06-05T06:04:23.988Z,1749103463.988 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=30.483135
2025-06-05T06:04:24.117Z,1749103464.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:24.124Z,1749103464.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.454010 s,
deltaX: 0.100000 m,
approachRate: 0.220260 m/s,
rangeRepo size: 4
2025-06-05T06:04:24.149Z,1749103464.149 [DockingStepper](INFO): Stopping
2025-06-05T06:04:24.228Z,1749103464.228 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=30.722853
2025-06-05T06:04:24.480Z,1749103464.480 [DAT](INFO): DAT read: Rx Time:06:04:23.2575
2025-06-05T06:04:24.480Z,1749103464.480 [DAT](INFO): Rx dataTimestamp_ set to:1749103464.480016
2025-06-05T06:04:24.482Z,1749103464.482 [DAT](INFO): DAT read: Bearing 110.1, -52.8 (Local)
2025-06-05T06:04:24.482Z,1749103464.482 [DAT](INFO): Local bearing/azimuth received:
Bearing 110.1, -52.8 (Local)
2025-06-05T06:04:24.485Z,1749103464.485 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:24.499Z,1749103464.499 [DAT](INFO): DAT read: 06:04:23.2575 LVL= 11376, 9265, 13074, 10563, AGC= 26, IDX= 504, 0.02, 2.909, 2.659, 1.761,-2.627, PHS=-0.660,-0.951,-1.898, RAW= 43.0, 47.9, CAL= 39.9, 52.8, ROT= 110.1, -52.8
2025-06-05T06:04:24.501Z,1749103464.501 [DAT](INFO): got valid direction response:
06:04:23.2575 LVL= 11376, 9265, 13074, 10563, AGC= 26, IDX= 504, 0.02, 2.909, 2.659, 1.761,-2.627, PHS=-0.660,-0.951,-1.898, RAW= 43.0, 47.9, CAL= 39.9, 52.8, ROT= 110.1, -52.8
2025-06-05T06:04:24.501Z,1749103464.501 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-05T06:04:24.520Z,1749103464.520 [DAT](INFO): direction in FSK: [-0.207776,0.567776,0.796530]
2025-06-05T06:04:24.520Z,1749103464.520 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:24.555Z,1749103464.555 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=31.025118
2025-06-05T06:04:24.696Z,1749103464.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.502891 s,
deltaX: -0.100000 m,
approachRate: -0.198850 m/s,
rangeRepo size: 4
2025-06-05T06:04:24.703Z,1749103464.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091087 m,
bearing: 99.917002 deg,
lat: 36.906116 deg,
lon: -122.116040 deg,
deltaT: 0.956901 s,
deltaX: -0.000000 m,
approachRate: -0.000000 m/s,
posRepo size: 4
2025-06-05T06:04:24.726Z,1749103464.726 [DockingStepper](INFO): Stopping
2025-06-05T06:04:24.731Z,1749103464.731 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=31.226460
2025-06-05T06:04:24.957Z,1749103464.957 [DockingStepper](INFO): Stopping
2025-06-05T06:04:24.984Z,1749103464.984 [DAT](INFO): DAT read: Rx Time:06:04:23.7577
2025-06-05T06:04:24.984Z,1749103464.984 [DAT](INFO): Rx dataTimestamp_ set to:1749103464.984004
2025-06-05T06:04:24.986Z,1749103464.986 [DAT](INFO): DAT read: Bearing 109.6, -53.9 (Local)
2025-06-05T06:04:24.986Z,1749103464.986 [DAT](INFO): Local bearing/azimuth received:
Bearing 109.6, -53.9 (Local)
2025-06-05T06:04:24.993Z,1749103464.993 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-06-05T06:04:25.008Z,1749103465.008 [DAT](INFO): DAT read: 06:04:23.7577 LVL= 11600, 6625, 13410, 10115, AGC= 26, IDX= 506,-0.05,-0.381,-0.630,-1.491, 0.390, PHS=-0.683,-0.973,-1.884, RAW= 43.4, 49.1, CAL= 40.4, 53.9, ROT= 109.6, -53.9
2025-06-05T06:04:25.014Z,1749103465.014 [DAT](INFO): got valid direction response:
06:04:23.7577 LVL= 11600, 6625, 13410, 10115, AGC= 26, IDX= 506,-0.05,-0.381,-0.630,-1.491, 0.390, PHS=-0.683,-0.973,-1.884, RAW= 43.4, 49.1, CAL= 40.4, 53.9, ROT= 109.6, -53.9
2025-06-05T06:04:25.015Z,1749103465.015 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-05T06:04:25.016Z,1749103465.016 [DAT](INFO): direction in FSK: [-0.197647,0.555057,0.807990]
2025-06-05T06:04:25.016Z,1749103465.016 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:25.024Z,1749103465.024 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=31.518757
2025-06-05T06:04:25.235Z,1749103465.235 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=31.730291
2025-06-05T06:04:25.494Z,1749103465.494 [DAT](INFO): DAT read: Rx Time:06:04:24.2575
2025-06-05T06:04:25.495Z,1749103465.495 [DAT](INFO): Rx dataTimestamp_ set to:1749103465.494194
2025-06-05T06:04:25.496Z,1749103465.496 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:25.497Z,1749103465.497 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-06-05T06:04:25.499Z,1749103465.499 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=31.993736
2025-06-05T06:04:25.531Z,1749103465.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 1.014178 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:25.533Z,1749103465.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091087 m,
bearing: 99.724346 deg,
lat: 36.906116 deg,
lon: -122.116039 deg,
deltaT: 1.014178 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-06-05T06:04:25.615Z,1749103465.615 [DockingStepper](INFO): Stopping
2025-06-05T06:04:25.744Z,1749103465.744 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=32.239182
2025-06-05T06:04:25.769Z,1749103465.769 [DockingStepper](INFO): Stopping
2025-06-05T06:04:25.997Z,1749103465.997 [DAT](INFO): DAT read: Rx Time:06:04:24.7575
2025-06-05T06:04:25.997Z,1749103465.997 [DAT](INFO): Rx dataTimestamp_ set to:1749103465.997139
2025-06-05T06:04:26.000Z,1749103466.000 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:26.001Z,1749103466.001 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-06-05T06:04:26.004Z,1749103466.004 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=32.498383
2025-06-05T06:04:26.147Z,1749103466.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:26.149Z,1749103466.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.502945 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:26.247Z,1749103466.247 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=32.742466
2025-06-05T06:04:26.331Z,1749103466.331 [DockingStepper](INFO): Stopping
2025-06-05T06:04:26.501Z,1749103466.501 [DAT](INFO): DAT read: Rx Time:06:04:25.2574
2025-06-05T06:04:26.502Z,1749103466.502 [DAT](INFO): Rx dataTimestamp_ set to:1749103466.501374
2025-06-05T06:04:26.504Z,1749103466.504 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:26.505Z,1749103466.505 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-06-05T06:04:26.507Z,1749103466.507 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=33.001896
2025-06-05T06:04:26.619Z,1749103466.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.504235 s,
deltaX: -0.200000 m,
approachRate: -0.396641 m/s,
rangeRepo size: 4
2025-06-05T06:04:26.691Z,1749103466.691 [DockingStepper](INFO): Stopping
2025-06-05T06:04:26.751Z,1749103466.751 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=33.246544
2025-06-05T06:04:27.003Z,1749103467.003 [DAT](INFO): DAT read: Rx Time:06:04:25.7575
2025-06-05T06:04:27.004Z,1749103467.004 [DAT](INFO): Rx dataTimestamp_ set to:1749103467.003505
2025-06-05T06:04:27.005Z,1749103467.005 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:27.006Z,1749103467.006 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-06-05T06:04:27.007Z,1749103467.007 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=33.501888
2025-06-05T06:04:27.047Z,1749103467.047 [DockingStepper](INFO): Stopping
2025-06-05T06:04:27.255Z,1749103467.255 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=33.750305
2025-06-05T06:04:27.341Z,1749103467.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.502131 s,
deltaX: 0.200000 m,
approachRate: 0.398303 m/s,
rangeRepo size: 4
2025-06-05T06:04:27.423Z,1749103467.423 [DockingStepper](INFO): Stopping
2025-06-05T06:04:27.510Z,1749103467.510 [DAT](INFO): DAT read: Rx Time:06:04:26.2575
2025-06-05T06:04:27.512Z,1749103467.512 [DAT](INFO): Rx dataTimestamp_ set to:1749103467.510644
2025-06-05T06:04:27.515Z,1749103467.515 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:27.516Z,1749103467.516 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-06-05T06:04:27.523Z,1749103467.523 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=34.018135
2025-06-05T06:04:27.761Z,1749103467.761 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=34.255577
2025-06-05T06:04:27.802Z,1749103467.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.507139 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:27.854Z,1749103467.854 [DockingStepper](INFO): Stopping
2025-06-05T06:04:27.919Z,1749103467.919 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:04:28.012Z,1749103468.012 [DAT](INFO): DAT read: Rx Time:06:04:26.7576
2025-06-05T06:04:28.013Z,1749103468.013 [DAT](INFO): Rx dataTimestamp_ set to:1749103468.012230
2025-06-05T06:04:28.014Z,1749103468.014 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:28.014Z,1749103468.014 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-06-05T06:04:28.015Z,1749103468.015 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=34.510452
2025-06-05T06:04:28.136Z,1749103468.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.501586 s,
deltaX: 0.100000 m,
approachRate: 0.199368 m/s,
rangeRepo size: 4
2025-06-05T06:04:28.156Z,1749103468.156 [DockingStepper](INFO): Stopping
2025-06-05T06:04:28.264Z,1749103468.264 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=34.759209
2025-06-05T06:04:28.518Z,1749103468.518 [DAT](INFO): DAT read: Rx Time:06:04:27.2575
2025-06-05T06:04:28.519Z,1749103468.519 [DAT](INFO): Rx dataTimestamp_ set to:1749103468.518317
2025-06-05T06:04:28.521Z,1749103468.521 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:28.524Z,1749103468.524 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-06-05T06:04:28.526Z,1749103468.526 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=35.020420
2025-06-05T06:04:28.613Z,1749103468.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:28.616Z,1749103468.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.506087 s,
deltaX: -0.100000 m,
approachRate: -0.197595 m/s,
rangeRepo size: 4
2025-06-05T06:04:28.632Z,1749103468.632 [DockingStepper](INFO): Stopping
2025-06-05T06:04:28.767Z,1749103468.767 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=35.262253
2025-06-05T06:04:28.922Z,1749103468.922 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:04:28.956Z,1749103468.956 [DockingStepper](INFO): Stopping
2025-06-05T06:04:29.019Z,1749103469.019 [DAT](INFO): DAT read: Rx Time:06:04:27.7576
2025-06-05T06:04:29.020Z,1749103469.020 [DAT](INFO): Rx dataTimestamp_ set to:1749103469.019429
2025-06-05T06:04:29.021Z,1749103469.021 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:29.021Z,1749103469.021 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-06-05T06:04:29.022Z,1749103469.022 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=35.517658
2025-06-05T06:04:29.271Z,1749103469.271 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=35.766384
2025-06-05T06:04:29.376Z,1749103469.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.501112 s,
deltaX: 0.100000 m,
approachRate: 0.199556 m/s,
rangeRepo size: 4
2025-06-05T06:04:29.474Z,1749103469.474 [DockingStepper](INFO): Stopping
2025-06-05T06:04:29.525Z,1749103469.525 [DAT](INFO): DAT read: Rx Time:06:04:28.2576
2025-06-05T06:04:29.526Z,1749103469.526 [DAT](INFO): Rx dataTimestamp_ set to:1749103469.525137
2025-06-05T06:04:29.529Z,1749103469.529 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:29.530Z,1749103469.530 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-06-05T06:04:29.532Z,1749103469.532 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=36.027199
2025-06-05T06:04:29.776Z,1749103469.776 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=36.270699
2025-06-05T06:04:29.849Z,1749103469.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.505708 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:29.880Z,1749103469.880 [DockingStepper](INFO): Stopping
2025-06-05T06:04:30.028Z,1749103470.028 [DAT](INFO): DAT read: Rx Time:06:04:28.7576
2025-06-05T06:04:30.029Z,1749103470.029 [DAT](INFO): Rx dataTimestamp_ set to:1749103470.028519
2025-06-05T06:04:30.030Z,1749103470.030 [DAT](INFO): DAT read: Bearing 281.2, -54.5 (Local)
2025-06-05T06:04:30.031Z,1749103470.031 [DAT](INFO): Local bearing/azimuth received:
Bearing 281.2, -54.5 (Local)
2025-06-05T06:04:30.032Z,1749103470.032 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:30.037Z,1749103470.037 [DAT](INFO): DAT read: 06:04:28.7576 LVL= 15072, 22673, 10578, 14355, AGC= 27, IDX= 507,-0.20,-0.769,-0.284, 1.036, 1.521, PHS=-2.202,-1.757,-0.487, RAW= 224.5, 45.6, CAL= 228.8, 54.5, ROT= 281.2, -54.5
2025-06-05T06:04:30.038Z,1749103470.038 [DAT](INFO): got valid direction response:
06:04:28.7576 LVL= 15072, 22673, 10578, 14355, AGC= 27, IDX= 507,-0.20,-0.769,-0.284, 1.036, 1.521, PHS=-2.202,-1.757,-0.487, RAW= 224.5, 45.6, CAL= 228.8, 54.5, ROT= 281.2, -54.5
2025-06-05T06:04:30.038Z,1749103470.038 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-06-05T06:04:30.039Z,1749103470.039 [DAT](INFO): direction in FSK: [0.112793,-0.569644,0.814116]
2025-06-05T06:04:30.040Z,1749103470.040 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:30.045Z,1749103470.045 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=36.539757
2025-06-05T06:04:30.204Z,1749103470.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.503382 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:30.211Z,1749103470.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.190259 m,
bearing: 248.474642 deg,
lat: 36.906117 deg,
lon: -122.116039 deg,
deltaT: 4.534325 s,
deltaX: 0.099172 m,
approachRate: 0.021871 m/s,
posRepo size: 4
2025-06-05T06:04:30.247Z,1749103470.247 [DockingStepper](INFO): Stopping
2025-06-05T06:04:30.279Z,1749103470.279 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=36.774399
2025-06-05T06:04:30.531Z,1749103470.531 [DAT](INFO): DAT read: Rx Time:06:04:29.2575
2025-06-05T06:04:30.532Z,1749103470.532 [DAT](INFO): Rx dataTimestamp_ set to:1749103470.531557
2025-06-05T06:04:30.533Z,1749103470.533 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:30.534Z,1749103470.534 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-06-05T06:04:30.535Z,1749103470.535 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=37.029881
2025-06-05T06:04:30.630Z,1749103470.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:30.633Z,1749103470.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.503038 s,
deltaX: -0.100000 m,
approachRate: -0.198792 m/s,
rangeRepo size: 4
2025-06-05T06:04:30.663Z,1749103470.663 [DockingStepper](INFO): Stopping
2025-06-05T06:04:30.784Z,1749103470.784 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=37.278942
2025-06-05T06:04:30.974Z,1749103470.974 [DockingStepper](INFO): Stopping
2025-06-05T06:04:31.036Z,1749103471.036 [DAT](INFO): DAT read: Rx Time:06:04:29.7576
2025-06-05T06:04:31.036Z,1749103471.036 [DAT](INFO): Rx dataTimestamp_ set to:1749103471.035987
2025-06-05T06:04:31.038Z,1749103471.038 [DAT](INFO): DAT read: Bearing 299.8, -50.8 (Local)
2025-06-05T06:04:31.038Z,1749103471.038 [DAT](INFO): Local bearing/azimuth received:
Bearing 299.8, -50.8 (Local)
2025-06-05T06:04:31.040Z,1749103471.040 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:31.046Z,1749103471.046 [DAT](INFO): DAT read: 06:04:29.7576 LVL= 13248, 23377, 8674, 14003, AGC= 27, IDX= 507,-0.11,-0.302,-0.172, 1.491, 1.815, PHS=-2.028,-1.939,-0.327, RAW= 212.7, 42.5, CAL= 210.2, 50.8, ROT= 299.8, -50.8
2025-06-05T06:04:31.047Z,1749103471.047 [DAT](INFO): got valid direction response:
06:04:29.7576 LVL= 13248, 23377, 8674, 14003, AGC= 27, IDX= 507,-0.11,-0.302,-0.172, 1.491, 1.815, PHS=-2.028,-1.939,-0.327, RAW= 212.7, 42.5, CAL= 210.2, 50.8, ROT= 299.8, -50.8
2025-06-05T06:04:31.047Z,1749103471.047 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-05T06:04:31.048Z,1749103471.048 [DAT](INFO): direction in FSK: [0.314102,-0.548453,0.774944]
2025-06-05T06:04:31.048Z,1749103471.048 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:31.052Z,1749103471.052 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=37.547230
2025-06-05T06:04:31.290Z,1749103471.290 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=37.784943
2025-06-05T06:04:31.381Z,1749103471.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.504430 s,
deltaX: 0.100000 m,
approachRate: 0.198244 m/s,
rangeRepo size: 4
2025-06-05T06:04:31.394Z,1749103471.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.190257 m,
bearing: 264.246806 deg,
lat: 36.906117 deg,
lon: -122.116039 deg,
deltaT: 1.007468 s,
deltaX: -0.000002 m,
approachRate: -0.000002 m/s,
posRepo size: 4
2025-06-05T06:04:31.482Z,1749103471.482 [DockingStepper](INFO): Stopping
2025-06-05T06:04:31.539Z,1749103471.539 [DAT](INFO): DAT read: Rx Time:06:04:30.2575
2025-06-05T06:04:31.540Z,1749103471.540 [DAT](INFO): Rx dataTimestamp_ set to:1749103471.539601
2025-06-05T06:04:31.541Z,1749103471.541 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:31.542Z,1749103471.542 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-06-05T06:04:31.543Z,1749103471.543 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=38.037834
2025-06-05T06:04:31.794Z,1749103471.794 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=38.288200
2025-06-05T06:04:31.815Z,1749103471.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.503614 s,
deltaX: -0.100000 m,
approachRate: -0.198565 m/s,
rangeRepo size: 4
2025-06-05T06:04:31.847Z,1749103471.847 [DockingStepper](INFO): Stopping
2025-06-05T06:04:32.045Z,1749103472.045 [DAT](INFO): DAT read: Rx Time:06:04:30.7576
2025-06-05T06:04:32.045Z,1749103472.045 [DAT](INFO): Rx dataTimestamp_ set to:1749103472.044921
2025-06-05T06:04:32.046Z,1749103472.046 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:32.047Z,1749103472.047 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-06-05T06:04:32.048Z,1749103472.048 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=38.543137
2025-06-05T06:04:32.153Z,1749103472.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.505320 s,
deltaX: 0.100000 m,
approachRate: 0.197894 m/s,
rangeRepo size: 4
2025-06-05T06:04:32.202Z,1749103472.202 [DockingStepper](INFO): Stopping
2025-06-05T06:04:32.299Z,1749103472.299 [DAT](INFO): DAT read: Rx Time:06:04:31.2575
2025-06-05T06:04:32.300Z,1749103472.300 [DAT](INFO): Rx dataTimestamp_ set to:1749103472.299043
2025-06-05T06:04:32.303Z,1749103472.303 [DAT](INFO): DAT read: Bearing 307.0, -44.1 (Local)
2025-06-05T06:04:32.304Z,1749103472.304 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.0, -44.1 (Local)
2025-06-05T06:04:32.306Z,1749103472.306 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=38.800224
2025-06-05T06:04:32.548Z,1749103472.548 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:32.553Z,1749103472.553 [DAT](INFO): DAT read: 06:04:31.2575 LVL= 12864, 23073, 9346, 14371, AGC= 27, IDX= 506,-0.01, 0.386, 0.235, 2.172, 2.187, PHS=-1.713,-1.904,-0.017, RAW= 204.7, 35.5, CAL= 203.0, 44.1, ROT= 307.0, -44.1
2025-06-05T06:04:32.554Z,1749103472.554 [DAT](INFO): got valid direction response:
06:04:31.2575 LVL= 12864, 23073, 9346, 14371, AGC= 27, IDX= 506,-0.01, 0.386, 0.235, 2.172, 2.187, PHS=-1.713,-1.904,-0.017, RAW= 204.7, 35.5, CAL= 203.0, 44.1, ROT= 307.0, -44.1
2025-06-05T06:04:32.554Z,1749103472.554 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-06-05T06:04:32.555Z,1749103472.555 [DAT](INFO): direction in FSK: [0.432179,-0.573521,0.695913]
2025-06-05T06:04:32.556Z,1749103472.556 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:32.559Z,1749103472.559 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=39.054310
2025-06-05T06:04:32.671Z,1749103472.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.501555 s,
deltaX: -0.100000 m,
approachRate: -0.199380 m/s,
rangeRepo size: 4
2025-06-05T06:04:32.673Z,1749103472.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091064 m,
bearing: 272.470459 deg,
lat: 36.906117 deg,
lon: -122.116055 deg,
deltaT: 1.510489 s,
deltaX: -0.099193 m,
approachRate: -0.065670 m/s,
posRepo size: 4
2025-06-05T06:04:32.707Z,1749103472.707 [DockingStepper](INFO): Stopping
2025-06-05T06:04:32.818Z,1749103472.818 [DAT](INFO): DAT read: Rx Time:06:04:31.7576
2025-06-05T06:04:32.819Z,1749103472.819 [DAT](INFO): Rx dataTimestamp_ set to:1749103472.818647
2025-06-05T06:04:32.823Z,1749103472.823 [DAT](INFO): DAT read: Bearing 307.2, -41.4 (Local)
2025-06-05T06:04:32.824Z,1749103472.824 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.2, -41.4 (Local)
2025-06-05T06:04:32.830Z,1749103472.830 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:32.832Z,1749103472.832 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-06-05T06:04:32.864Z,1749103472.864 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=39.359116
2025-06-05T06:04:32.987Z,1749103472.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:32.990Z,1749103472.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.272171 s,
deltaX: 0.100000 m,
approachRate: 0.367416 m/s,
rangeRepo size: 4
2025-06-05T06:04:33.028Z,1749103473.028 [DockingStepper](INFO): Stopping
2025-06-05T06:04:33.056Z,1749103473.056 [DAT](INFO): DAT read: 06:04:31.7576 LVL= 12624, 25921, 9202, 14179, AGC= 28, IDX= 507, 0.02, 2.290, 2.126,-2.128,-2.256, PHS=-1.648,-1.854, 0.126, RAW= 204.6, 32.3, CAL= 202.8, 41.4, ROT= 307.2, -41.4
2025-06-05T06:04:33.057Z,1749103473.057 [DAT](INFO): got valid direction response:
06:04:31.7576 LVL= 12624, 25921, 9202, 14179, AGC= 28, IDX= 507, 0.02, 2.290, 2.126,-2.128,-2.256, PHS=-1.648,-1.854, 0.126, RAW= 204.6, 32.3, CAL= 202.8, 41.4, ROT= 307.2, -41.4
2025-06-05T06:04:33.057Z,1749103473.057 [DAT](INFO): #Rx 95: Read direction message, but no range.
2025-06-05T06:04:33.058Z,1749103473.058 [DAT](INFO): direction in FSK: [0.453517,-0.597486,0.661312]
2025-06-05T06:04:33.063Z,1749103473.063 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=39.558102
2025-06-05T06:04:33.306Z,1749103473.306 [DAT](INFO): DAT read: Rx Time:06:04:32.2576
2025-06-05T06:04:33.307Z,1749103473.307 [DAT](INFO): Rx dataTimestamp_ set to:1749103473.306290
2025-06-05T06:04:33.310Z,1749103473.310 [DAT](INFO): DAT read: Bearing 306.2, -41.6 (Local)
2025-06-05T06:04:33.316Z,1749103473.316 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.2, -41.6 (Local)
2025-06-05T06:04:33.318Z,1749103473.318 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=39.812859
2025-06-05T06:04:33.515Z,1749103473.515 [DockingStepper](INFO): Stopping
2025-06-05T06:04:33.557Z,1749103473.557 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:33.561Z,1749103473.561 [DAT](INFO): DAT read: 06:04:32.2576 LVL= 12272, 24801, 8690, 13491, AGC= 28, IDX= 506, 0.07, 1.152, 1.036, 3.002, 2.875, PHS=-1.635,-1.792, 0.124, RAW= 205.8, 32.4, CAL= 203.8, 41.6, ROT= 306.2, -41.6
2025-06-05T06:04:33.562Z,1749103473.562 [DAT](INFO): got valid direction response:
06:04:32.2576 LVL= 12272, 24801, 8690, 13491, AGC= 28, IDX= 506, 0.07, 1.152, 1.036, 3.002, 2.875, PHS=-1.635,-1.792, 0.124, RAW= 205.8, 32.4, CAL= 203.8, 41.6, ROT= 306.2, -41.6
2025-06-05T06:04:33.563Z,1749103473.563 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-06-05T06:04:33.564Z,1749103473.564 [DAT](INFO): direction in FSK: [0.441654,-0.603443,0.663926]
2025-06-05T06:04:33.564Z,1749103473.564 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:33.567Z,1749103473.567 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=40.062664
2025-06-05T06:04:33.810Z,1749103473.810 [DAT](INFO): DAT read: Rx Time:06:04:32.7576
2025-06-05T06:04:33.812Z,1749103473.812 [DAT](INFO): Rx dataTimestamp_ set to:1749103473.810931
2025-06-05T06:04:33.862Z,1749103473.862 [DAT](INFO): DAT read: Bearing 304.0, -45.1 (Local)
2025-06-05T06:04:33.863Z,1749103473.863 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.0, -45.1 (Local)
2025-06-05T06:04:33.865Z,1749103473.865 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:33.888Z,1749103473.888 [DAT](INFO): DAT read: 06:04:32.7576 LVL= 14768, 27473, 8498, 17699, AGC= 29, IDX= 506, 0.16, 0.990, 0.972, 2.704, 2.739, PHS=-1.661,-1.720,-0.038, RAW= 208.3, 36.2, CAL= 206.0, T= 304.0, -45.1
2025-06-05T06:04:33.900Z,1749103473.900 [DAT](INFO): unknown deviceResponse_: 06:04:32.7576 LVL= 14768, 27473, 8498, 17699, AGC= 29, IDX= 506, 0.16, 0.990, 0.972, 2.704, 2.739, PHS=-1.661,-1.720,-0.038, RAW= 208.3, 36.2, CAL= 206.0, T= 304.0, -45.1
2025-06-05T06:04:33.901Z,1749103473.901 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-06-05T06:04:33.911Z,1749103473.911 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=40.406528
2025-06-05T06:04:33.919Z,1749103473.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.992284 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:33.921Z,1749103473.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.190247 m,
bearing: 274.563849 deg,
lat: 36.906119 deg,
lon: -122.116057 deg,
deltaT: 1.008183 s,
deltaX: 0.099184 m,
approachRate: 0.098379 m/s,
posRepo size: 4
2025-06-05T06:04:33.956Z,1749103473.956 [DockingStepper](INFO): Stopping
2025-06-05T06:04:34.061Z,1749103474.061 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=40.555958
2025-06-05T06:04:34.213Z,1749103474.213 [DockingStepper](INFO): Stopping
2025-06-05T06:04:34.317Z,1749103474.317 [DAT](INFO): DAT read: Rx Time:06:04:33.2575
2025-06-05T06:04:34.318Z,1749103474.318 [DAT](INFO): Rx dataTimestamp_ set to:1749103474.317028
2025-06-05T06:04:34.321Z,1749103474.321 [DAT](INFO): DAT read: Bearing 300.2, -49.2 (Local)
2025-06-05T06:04:34.323Z,1749103474.323 [DAT](INFO): Local bearing/azimuth received:
Bearing 300.2, -49.2 (Local)
2025-06-05T06:04:34.328Z,1749103474.328 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:34.330Z,1749103474.330 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-06-05T06:04:34.342Z,1749103474.342 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=40.828442
2025-06-05T06:04:34.567Z,1749103474.567 [DAT](INFO): DAT read: 06:04:33.2575 LVL= 14832, 30017, 9202, 16931, AGC= 29, IDX= 505, 0.29,-0.972,-0.858, 0.688, 0.901, PHS=-1.785,-1.712,-0.216, RAW= 212.4, 40.6, CAL= 209.8, 49.2, ROT= 300.2, -49.2
2025-06-05T06:04:34.568Z,1749103474.568 [DAT](INFO): got valid direction response:
06:04:33.2575 LVL= 14832, 30017, 9202, 16931, AGC= 29, IDX= 505, 0.29,-0.972,-0.858, 0.688, 0.901, PHS=-1.785,-1.712,-0.216, RAW= 212.4, 40.6, CAL= 209.8, 49.2, ROT= 300.2, -49.2
2025-06-05T06:04:34.568Z,1749103474.568 [DAT](INFO): #Rx 99: Read direction message, but no range.
2025-06-05T06:04:34.569Z,1749103474.569 [DAT](INFO): direction in FSK: [0.328684,-0.564735,0.756995]
2025-06-05T06:04:34.572Z,1749103474.572 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=41.067478
2025-06-05T06:04:34.686Z,1749103474.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.506097 s,
deltaX: -0.100000 m,
approachRate: -0.197591 m/s,
rangeRepo size: 4
2025-06-05T06:04:34.688Z,1749103474.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091060 m,
bearing: 269.656838 deg,
lat: 36.906119 deg,
lon: -122.116057 deg,
deltaT: 0.762369 s,
deltaX: -0.099187 m,
approachRate: -0.130104 m/s,
posRepo size: 4
2025-06-05T06:04:34.725Z,1749103474.725 [DockingStepper](INFO): Stopping
2025-06-05T06:04:34.820Z,1749103474.820 [DAT](INFO): DAT read: Rx Time:06:04:33.7576
2025-06-05T06:04:34.822Z,1749103474.822 [DAT](INFO): Rx dataTimestamp_ set to:1749103474.820923
2025-06-05T06:04:34.825Z,1749103474.825 [DAT](INFO): DAT read: Bearing 294.9, -53.4 (Local)
2025-06-05T06:04:34.827Z,1749103474.827 [DAT](INFO): Local bearing/azimuth received:
Bearing 294.9, -53.4 (Local)
2025-06-05T06:04:34.832Z,1749103474.832 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:34.843Z,1749103474.843 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-06-05T06:04:34.845Z,1749103474.845 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=41.340096
2025-06-05T06:04:35.001Z,1749103475.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:35.016Z,1749103475.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.503895 s,
deltaX: 0.100000 m,
approachRate: 0.198454 m/s,
rangeRepo size: 4
2025-06-05T06:04:35.071Z,1749103475.071 [DAT](INFO): DAT read: 06:04:33.7576 LVL= 15616, 24225, 10738, 18163, AGC= 29, IDX= 507,-0.47,-2.683,-2.455,-1.054,-0.656, PHS=-1.939,-1.752,-0.401, RAW= 216.4, 44.9, CAL= 215.1, 53.4, ROT= 294.9, -53.4
2025-06-05T06:04:35.072Z,1749103475.072 [DAT](INFO): got valid direction response:
06:04:33.7576 LVL= 15616, 24225, 10738, 18163, AGC= 29, IDX= 507,-0.47,-2.683,-2.455,-1.054,-0.656, PHS=-1.939,-1.752,-0.401, RAW= 216.4, 44.9, CAL= 215.1, 53.4, ROT= 294.9, -53.4
2025-06-05T06:04:35.073Z,1749103475.073 [DAT](INFO): #Rx 101: Read direction message, but no range.
2025-06-05T06:04:35.073Z,1749103475.073 [DAT](INFO): direction in FSK: [0.251032,-0.540802,0.802817]
2025-06-05T06:04:35.079Z,1749103475.079 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=41.574131
2025-06-05T06:04:35.091Z,1749103475.091 [DockingStepper](INFO): Stopping
2025-06-05T06:04:35.323Z,1749103475.323 [DAT](INFO): DAT read: Rx Time:06:04:34.2575
2025-06-05T06:04:35.324Z,1749103475.324 [DAT](INFO): Rx dataTimestamp_ set to:1749103475.323771
2025-06-05T06:04:35.329Z,1749103475.329 [DAT](INFO): DAT read: Bearing 276.8, -55.5 (Local)
2025-06-05T06:04:35.330Z,1749103475.330 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.8, -55.5 (Local)
2025-06-05T06:04:35.336Z,1749103475.336 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:35.338Z,1749103475.338 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-06-05T06:04:35.370Z,1749103475.370 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=41.864716
2025-06-05T06:04:35.452Z,1749103475.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.502848 s,
deltaX: -0.100000 m,
approachRate: -0.198867 m/s,
rangeRepo size: 4
2025-06-05T06:04:35.463Z,1749103475.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091062 m,
bearing: 267.149626 deg,
lat: 36.906119 deg,
lon: -122.116057 deg,
deltaT: 1.006743 s,
deltaX: 0.000002 m,
approachRate: 0.000002 m/s,
posRepo size: 4
2025-06-05T06:04:35.560Z,1749103475.560 [DockingStepper](INFO): Stopping
2025-06-05T06:04:35.575Z,1749103475.575 [DAT](INFO): DAT read: 06:04:34.2575 LVL= 20976, 23921, 11666, 18851, AGC= 30, IDX= 506,-0.18,-0.450, 0.102, 1.291, 1.864, PHS=-2.226,-1.715,-0.576, RAW= 227.6, 47.5, CAL= 233.2, 55.5, ROT= 276.8, -55.5
2025-06-05T06:04:35.577Z,1749103475.577 [DAT](INFO): got valid direction response:
06:04:34.2575 LVL= 20976, 23921, 11666, 18851, AGC= 30, IDX= 506,-0.18,-0.450, 0.102, 1.291, 1.864, PHS=-2.226,-1.715,-0.576, RAW= 227.6, 47.5, CAL= 233.2, 55.5, ROT= 276.8, -55.5
2025-06-05T06:04:35.577Z,1749103475.577 [DAT](INFO): #Rx 103: Read direction message, but no range.
2025-06-05T06:04:35.580Z,1749103475.580 [DAT](INFO): direction in FSK: [0.067065,-0.562422,0.824126]
2025-06-05T06:04:35.584Z,1749103475.584 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=42.079475
2025-06-05T06:04:35.823Z,1749103475.823 [DAT](INFO): DAT read: Rx Time:06:04:34.7576
2025-06-05T06:04:35.824Z,1749103475.824 [DAT](INFO): Rx dataTimestamp_ set to:1749103475.823523
2025-06-05T06:04:35.826Z,1749103475.826 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:35.827Z,1749103475.827 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-06-05T06:04:35.828Z,1749103475.828 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=42.323174
2025-06-05T06:04:35.879Z,1749103475.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.499752 s,
deltaX: 0.100000 m,
approachRate: 0.200099 m/s,
rangeRepo size: 4
2025-06-05T06:04:35.881Z,1749103475.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.190251 m,
bearing: 252.535598 deg,
lat: 36.906118 deg,
lon: -122.116056 deg,
deltaT: 0.499752 s,
deltaX: 0.099189 m,
approachRate: 0.198477 m/s,
posRepo size: 4
2025-06-05T06:04:35.917Z,1749103475.917 [DockingStepper](INFO): Stopping
2025-06-05T06:04:36.076Z,1749103476.076 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=42.571152
2025-06-05T06:04:36.228Z,1749103476.228 [DockingStepper](INFO): Stopping
2025-06-05T06:04:36.328Z,1749103476.328 [DAT](INFO): DAT read: Rx Time:06:04:35.2575
2025-06-05T06:04:36.329Z,1749103476.329 [DAT](INFO): Rx dataTimestamp_ set to:1749103476.328234
2025-06-05T06:04:36.330Z,1749103476.330 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:36.330Z,1749103476.330 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-06-05T06:04:36.331Z,1749103476.331 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=42.826435
2025-06-05T06:04:36.581Z,1749103476.581 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=43.075752
2025-06-05T06:04:36.657Z,1749103476.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.504711 s,
deltaX: -0.100000 m,
approachRate: -0.198133 m/s,
rangeRepo size: 4
2025-06-05T06:04:36.696Z,1749103476.696 [DockingStepper](INFO): Stopping
2025-06-05T06:04:36.836Z,1749103476.836 [DAT](INFO): DAT read: Rx Time:06:04:35.7576
2025-06-05T06:04:36.838Z,1749103476.838 [DAT](INFO): Rx dataTimestamp_ set to:1749103476.837028
2025-06-05T06:04:36.843Z,1749103476.843 [DAT](INFO): DAT read: Bearing 108.8, -57.1 (Local)
2025-06-05T06:04:36.844Z,1749103476.844 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.8, -57.1 (Local)
2025-06-05T06:04:36.846Z,1749103476.846 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:36.851Z,1749103476.851 [DAT](INFO): DAT read: 06:04:35.7576 LVL= 11696, 7729, 11602, 9139, AGC= 25, IDX= 504, 0.41,-2.938, 3.112, 2.336,-2.081, PHS=-0.770,-1.043,-1.870, RAW= 43.8, 52.7, CAL= 41.2, 57.1, ROT= 108.8, -57.1
2025-06-05T06:04:36.852Z,1749103476.852 [DAT](INFO): got valid direction response:
06:04:35.7576 LVL= 11696, 7729, 11602, 9139, AGC= 25, IDX= 504, 0.41,-2.938, 3.112, 2.336,-2.081, PHS=-0.770,-1.043,-1.870, RAW= 43.8, 52.7, CAL= 41.2, 57.1, ROT= 108.8, -57.1
2025-06-05T06:04:36.852Z,1749103476.852 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-06-05T06:04:36.853Z,1749103476.853 [DAT](INFO): direction in FSK: [-0.175047,0.514196,0.839620]
2025-06-05T06:04:36.853Z,1749103476.853 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:36.880Z,1749103476.880 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=43.375031
2025-06-05T06:04:37.016Z,1749103477.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.508794 s,
deltaX: 0.100000 m,
approachRate: 0.196543 m/s,
rangeRepo size: 4
2025-06-05T06:04:37.019Z,1749103477.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.190262 m,
bearing: 106.211743 deg,
lat: 36.906117 deg,
lon: -122.116055 deg,
deltaT: 1.013505 s,
deltaX: 0.000011 m,
approachRate: 0.000011 m/s,
posRepo size: 4
2025-06-05T06:04:37.046Z,1749103477.046 [DockingStepper](INFO): Stopping
2025-06-05T06:04:37.083Z,1749103477.083 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=43.578228
2025-06-05T06:04:37.341Z,1749103477.341 [DAT](INFO): DAT read: Rx Time:06:04:36.2575
2025-06-05T06:04:37.343Z,1749103477.343 [DAT](INFO): Rx dataTimestamp_ set to:1749103477.340991
2025-06-05T06:04:37.345Z,1749103477.345 [DAT](INFO): DAT read: Bearing 106.7, -55.5 (Local)
2025-06-05T06:04:37.345Z,1749103477.345 [DAT](INFO): Local bearing/azimuth received:
Bearing 106.7, -55.5 (Local)
2025-06-05T06:04:37.347Z,1749103477.347 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:37.348Z,1749103477.348 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-06-05T06:04:37.349Z,1749103477.349 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=43.844044
2025-06-05T06:04:37.421Z,1749103477.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:37.428Z,1749103477.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.503963 s,
deltaX: -0.100000 m,
approachRate: -0.198427 m/s,
rangeRepo size: 4
2025-06-05T06:04:37.463Z,1749103477.463 [DockingStepper](INFO): Stopping
2025-06-05T06:04:37.592Z,1749103477.592 [DAT](INFO): DAT read: 06:04:36.2575 LVL= 12096, 13169, 12978, 10739, AGC= 26, IDX= 504,-0.40,-0.110,-0.412,-1.225, 0.707, PHS=-0.730,-1.072,-1.935, RAW= 46.0, 50.8, CAL= 43.3, 55.5, ROT= 106.7, -55.5
2025-06-05T06:04:37.594Z,1749103477.594 [DAT](INFO): got valid direction response:
06:04:36.2575 LVL= 12096, 13169, 12978, 10739, AGC= 26, IDX= 504,-0.40,-0.110,-0.412,-1.225, 0.707, PHS=-0.730,-1.072,-1.935, RAW= 46.0, 50.8, CAL= 43.3, 55.5, ROT= 106.7, -55.5
2025-06-05T06:04:37.595Z,1749103477.595 [DAT](INFO): #Rx 108: Read direction message, but no range.
2025-06-05T06:04:37.597Z,1749103477.597 [DAT](INFO): direction in FSK: [-0.162763,0.542517,0.824126]
2025-06-05T06:04:37.601Z,1749103477.601 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=44.096169
2025-06-05T06:04:37.844Z,1749103477.844 [DAT](INFO): DAT read: Rx Time:06:04:36.7575
2025-06-05T06:04:37.844Z,1749103477.844 [DAT](INFO): Rx dataTimestamp_ set to:1749103477.844079
2025-06-05T06:04:37.846Z,1749103477.846 [DAT](INFO): DAT read: Bearing 106.5, -54.5 (Local)
2025-06-05T06:04:37.846Z,1749103477.846 [DAT](INFO): Local bearing/azimuth received:
Bearing 106.5, -54.5 (Local)
2025-06-05T06:04:37.848Z,1749103477.848 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:37.853Z,1749103477.853 [DAT](INFO): DAT read: 06:04:36.7575 LVL= 10672, 14369, 10514, 9683, AGC= 25, IDX= 504,-0.30,-0.903,-1.224,-2.072,-0.110, PHS=-0.705,-1.067,-1.965, RAW= 46.2, 49.6, CAL= 43.5, 54.5, ROT= 106.5, -54.5
2025-06-05T06:04:37.854Z,1749103477.854 [DAT](INFO): got valid direction response:
06:04:36.7575 LVL= 10672, 14369, 10514, 9683, AGC= 25, IDX= 504,-0.30,-0.903,-1.224,-2.072,-0.110, PHS=-0.705,-1.067,-1.965, RAW= 46.2, 49.6, CAL= 43.5, 54.5, ROT= 106.5, -54.5
2025-06-05T06:04:37.858Z,1749103477.858 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-05T06:04:37.861Z,1749103477.861 [DAT](INFO): direction in FSK: [-0.164929,0.556789,0.814116]
2025-06-05T06:04:37.861Z,1749103477.861 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:37.881Z,1749103477.881 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=44.376587
2025-06-05T06:04:37.972Z,1749103477.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.503088 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:37.974Z,1749103477.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091083 m,
bearing: 104.381950 deg,
lat: 36.906116 deg,
lon: -122.116055 deg,
deltaT: 1.007051 s,
deltaX: -0.099179 m,
approachRate: -0.098485 m/s,
posRepo size: 4
2025-06-05T06:04:38.026Z,1749103478.026 [DockingStepper](INFO): Stopping
2025-06-05T06:04:38.092Z,1749103478.092 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=44.586731
2025-06-05T06:04:38.232Z,1749103478.232 [DockingStepper](INFO): Stopping
2025-06-05T06:04:38.346Z,1749103478.346 [DAT](INFO): DAT read: Rx Time:06:04:37.2574
2025-06-05T06:04:38.346Z,1749103478.346 [DAT](INFO): Rx dataTimestamp_ set to:1749103478.345953
2025-06-05T06:04:38.348Z,1749103478.348 [DAT](INFO): DAT read: Bearing 107.0, -54.6 (Local)
2025-06-05T06:04:38.348Z,1749103478.348 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.0, -54.6 (Local)
2025-06-05T06:04:38.350Z,1749103478.350 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:38.354Z,1749103478.354 [DAT](INFO): DAT read: 06:04:37.2574 LVL= 11168, 14401, 11298, 10643, AGC= 24, IDX= 503,-0.26,-1.428,-1.742,-2.606,-0.617, PHS=-0.723,-1.078,-1.992, RAW= 45.7, 49.8, CAL= 43.0, 54.6, ROT= 107.0, -54.6
2025-06-05T06:04:38.355Z,1749103478.355 [DAT](INFO): got valid direction response:
06:04:37.2574 LVL= 11168, 14401, 11298, 10643, AGC= 24, IDX= 503,-0.26,-1.428,-1.742,-2.606,-0.617, PHS=-0.723,-1.078,-1.992, RAW= 45.7, 49.8, CAL= 43.0, 54.6, ROT= 107.0, -54.6
2025-06-05T06:04:38.356Z,1749103478.356 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-06-05T06:04:38.357Z,1749103478.357 [DAT](INFO): direction in FSK: [-0.169365,0.553969,0.815128]
2025-06-05T06:04:38.357Z,1749103478.357 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:38.362Z,1749103478.362 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=44.857529
2025-06-05T06:04:38.597Z,1749103478.597 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=45.091640
2025-06-05T06:04:38.799Z,1749103478.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.501874 s,
deltaX: -0.200000 m,
approachRate: -0.398506 m/s,
rangeRepo size: 4
2025-06-05T06:04:38.817Z,1749103478.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 0.892703 m,
bearing: 105.709805 deg,
lat: 36.906116 deg,
lon: -122.116040 deg,
deltaT: 0.501874 s,
deltaX: -0.198380 m,
approachRate: -0.395278 m/s,
posRepo size: 4
2025-06-05T06:04:38.848Z,1749103478.848 [DAT](INFO): DAT read: Rx Time:06:04:37.7575
2025-06-05T06:04:38.848Z,1749103478.848 [DAT](INFO): Rx dataTimestamp_ set to:1749103478.848194
2025-06-05T06:04:38.850Z,1749103478.850 [DAT](INFO): DAT read: Bearing 107.6, -51.8 (Local)
2025-06-05T06:04:38.850Z,1749103478.850 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.6, -51.8 (Local)
2025-06-05T06:04:38.852Z,1749103478.852 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:38.857Z,1749103478.857 [DAT](INFO): DAT read: 06:04:37.7575 LVL= 9536, 14113, 10226, 9571, AGC= 25, IDX= 504,-0.21,-0.206,-0.545,-1.499, 0.532, PHS=-0.651,-1.031,-2.034, RAW= 45.4, 46.7, CAL= 42.4, 51.8, ROT= 107.6, -51.8
2025-06-05T06:04:38.858Z,1749103478.858 [DAT](INFO): got valid direction response:
06:04:37.7575 LVL= 9536, 14113, 10226, 9571, AGC= 25, IDX= 504,-0.21,-0.206,-0.545,-1.499, 0.532, PHS=-0.651,-1.031,-2.034, RAW= 45.4, 46.7, CAL= 42.4, 51.8, ROT= 107.6, -51.8
2025-06-05T06:04:38.858Z,1749103478.858 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-06-05T06:04:38.860Z,1749103478.860 [DAT](INFO): direction in FSK: [-0.186988,0.589461,0.785857]
2025-06-05T06:04:38.861Z,1749103478.861 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:38.865Z,1749103478.865 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=45.359875
2025-06-05T06:04:38.903Z,1749103478.903 [DockingStepper](INFO): Stopping
2025-06-05T06:04:39.088Z,1749103479.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.502241 s,
deltaX: 0.200000 m,
approachRate: 0.398215 m/s,
rangeRepo size: 4
2025-06-05T06:04:39.094Z,1749103479.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091082 m,
bearing: 105.571575 deg,
lat: 36.906116 deg,
lon: -122.116040 deg,
deltaT: 0.502241 s,
deltaX: 0.198379 m,
approachRate: 0.394987 m/s,
posRepo size: 4
2025-06-05T06:04:39.099Z,1749103479.099 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=45.594379
2025-06-05T06:04:39.121Z,1749103479.121 [DockingStepper](INFO): Stopping
2025-06-05T06:04:39.352Z,1749103479.352 [DAT](INFO): DAT read: Rx Time:06:04:38.2576
2025-06-05T06:04:39.352Z,1749103479.352 [DAT](INFO): Rx dataTimestamp_ set to:1749103479.352056
2025-06-05T06:04:39.354Z,1749103479.354 [DAT](INFO): DAT read: Bearing 106.7, -53.4 (Local)
2025-06-05T06:04:39.354Z,1749103479.354 [DAT](INFO): Local bearing/azimuth received:
Bearing 106.7, -53.4 (Local)
2025-06-05T06:04:39.356Z,1749103479.356 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:39.362Z,1749103479.362 [DAT](INFO): DAT read: 06:04:38.2576 LVL= 8944, 15073, 9922, 9171, AGC= 25, IDX= 503,-0.21,-0.770,-1.117,-2.037, 0.021, PHS=-0.703,-1.092,-2.061, RAW= 46.1, 48.4, CAL= 43.3, 53.4, ROT= 106.7, -53.4
2025-06-05T06:04:39.363Z,1749103479.363 [DAT](INFO): got valid direction response:
06:04:38.2576 LVL= 8944, 15073, 9922, 9171, AGC= 25, IDX= 503,-0.21,-0.770,-1.117,-2.037, 0.021, PHS=-0.703,-1.092,-2.061, RAW= 46.1, 48.4, CAL= 43.3, 53.4, ROT= 106.7, -53.4
2025-06-05T06:04:39.363Z,1749103479.363 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-06-05T06:04:39.364Z,1749103479.364 [DAT](INFO): direction in FSK: [-0.171331,0.571078,0.802817]
2025-06-05T06:04:39.365Z,1749103479.365 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:39.369Z,1749103479.369 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=45.863777
2025-06-05T06:04:39.565Z,1749103479.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.503862 s,
deltaX: 0.100000 m,
approachRate: 0.198467 m/s,
rangeRepo size: 4
2025-06-05T06:04:39.581Z,1749103479.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.190271 m,
bearing: 105.044945 deg,
lat: 36.906116 deg,
lon: -122.116039 deg,
deltaT: 0.503862 s,
deltaX: 0.099189 m,
approachRate: 0.196858 m/s,
posRepo size: 4
2025-06-05T06:04:39.603Z,1749103479.603 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=46.098488
2025-06-05T06:04:39.638Z,1749103479.638 [DockingStepper](INFO): Stopping
2025-06-05T06:04:39.856Z,1749103479.856 [DAT](INFO): DAT read: Rx Time:06:04:38.7577
2025-06-05T06:04:39.856Z,1749103479.856 [DAT](INFO): Rx dataTimestamp_ set to:1749103479.855891
2025-06-05T06:04:39.857Z,1749103479.857 [DAT](INFO): DAT read: Bearing 105.7, -55.8 (Local)
2025-06-05T06:04:39.858Z,1749103479.858 [DAT](INFO): Local bearing/azimuth received:
Bearing 105.7, -55.8 (Local)
2025-06-05T06:04:39.861Z,1749103479.861 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-06-05T06:04:39.866Z,1749103479.866 [DAT](INFO): DAT read: 06:04:38.7577 LVL= 8768, 17633, 9714, 8851, AGC= 25, IDX= 504,-0.22, 1.093, 0.749,-0.106, 1.964, PHS=-0.783,-1.168,-2.073, RAW= 46.9, 51.1, CAL= 44.3, 55.8, ROT= 105.7, -55.8
2025-06-05T06:04:39.871Z,1749103479.871 [DAT](INFO): got valid direction response:
06:04:38.7577 LVL= 8768, 17633, 9714, 8851, AGC= 25, IDX= 504,-0.22, 1.093, 0.749,-0.106, 1.964, PHS=-0.783,-1.168,-2.073, RAW= 46.9, 51.1, CAL= 44.3, 55.8, ROT= 105.7, -55.8
2025-06-05T06:04:39.871Z,1749103479.871 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-06-05T06:04:39.872Z,1749103479.872 [DAT](INFO): direction in FSK: [-0.152100,0.541113,0.827081]
2025-06-05T06:04:39.873Z,1749103479.873 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:39.886Z,1749103479.886 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=46.373089
2025-06-05T06:04:39.981Z,1749103479.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.400000 m,
deltaT: 0.503835 s,
deltaX: 0.200000 m,
approachRate: 0.396955 m/s,
rangeRepo size: 4
2025-06-05T06:04:39.999Z,1749103479.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.388656 m,
bearing: 104.562071 deg,
lat: 36.906116 deg,
lon: -122.116038 deg,
deltaT: 0.503835 s,
deltaX: 0.198385 m,
approachRate: 0.393750 m/s,
posRepo size: 4
2025-06-05T06:04:40.031Z,1749103480.031 [DockingStepper](INFO): Stopping
2025-06-05T06:04:40.107Z,1749103480.107 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=46.602310
2025-06-05T06:04:40.263Z,1749103480.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:40.349Z,1749103480.349 [DockingStepper](INFO): Stopping
2025-06-05T06:04:40.361Z,1749103480.361 [DAT](INFO): DAT read: Rx Time:06:04:39.2576
2025-06-05T06:04:40.361Z,1749103480.361 [DAT](INFO): Rx dataTimestamp_ set to:1749103480.361220
2025-06-05T06:04:40.363Z,1749103480.363 [DAT](INFO): DAT read: Bearing 108.0, -51.6 (Local)
2025-06-05T06:04:40.363Z,1749103480.363 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.0, -51.6 (Local)
2025-06-05T06:04:40.365Z,1749103480.365 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:40.371Z,1749103480.371 [DAT](INFO): DAT read: 06:04:39.2576 LVL= 7728, 14481, 8722, 7955, AGC= 24, IDX= 503,-0.11,-0.662,-1.005,-2.001, 0.094, PHS=-0.668,-1.051,-2.097, RAW= 45.0, 46.5, CAL= 42.0, 51.6, ROT= 108.0, -51.6
2025-06-05T06:04:40.372Z,1749103480.372 [DAT](INFO): got valid direction response:
06:04:39.2576 LVL= 7728, 14481, 8722, 7955, AGC= 24, IDX= 503,-0.11,-0.662,-1.005,-2.001, 0.094, PHS=-0.668,-1.051,-2.097, RAW= 45.0, 46.5, CAL= 42.0, 51.6, ROT= 108.0, -51.6
2025-06-05T06:04:40.372Z,1749103480.372 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-06-05T06:04:40.373Z,1749103480.373 [DAT](INFO): direction in FSK: [-0.191945,0.590747,0.783693]
2025-06-05T06:04:40.373Z,1749103480.373 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:40.388Z,1749103480.388 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=46.882401
2025-06-05T06:04:40.614Z,1749103480.614 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=47.108288
2025-06-05T06:04:40.733Z,1749103480.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.505329 s,
deltaX: -0.200000 m,
approachRate: -0.395782 m/s,
rangeRepo size: 4
2025-06-05T06:04:40.739Z,1749103480.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.190277 m,
bearing: 105.378137 deg,
lat: 36.906117 deg,
lon: -122.116037 deg,
deltaT: 0.505329 s,
deltaX: -0.198379 m,
approachRate: -0.392575 m/s,
posRepo size: 4
2025-06-05T06:04:40.844Z,1749103480.844 [DockingStepper](INFO): Stopping
2025-06-05T06:04:40.865Z,1749103480.865 [DAT](INFO): DAT read: Rx Time:06:04:39.7576
2025-06-05T06:04:40.865Z,1749103480.865 [DAT](INFO): Rx dataTimestamp_ set to:1749103480.864937
2025-06-05T06:04:40.868Z,1749103480.868 [DAT](INFO): DAT read: Bearing 109.9, -51.3 (Local)
2025-06-05T06:04:40.868Z,1749103480.868 [DAT](INFO): Local bearing/azimuth received:
Bearing 109.9, -51.3 (Local)
2025-06-05T06:04:40.871Z,1749103480.871 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:40.877Z,1749103480.877 [DAT](INFO): DAT read: 06:04:39.7576 LVL= 8336, 14113, 9170, 8051, AGC= 24, IDX= 503,-0.03,-0.742,-1.038,-2.063, 0.019, PHS=-0.672,-1.010,-2.085, RAW= 43.2, 46.2, CAL= 40.1, 51.3, ROT= 109.9, -51.3
2025-06-05T06:04:40.878Z,1749103480.878 [DAT](INFO): got valid direction response:
06:04:39.7576 LVL= 8336, 14113, 9170, 8051, AGC= 24, IDX= 503,-0.03,-0.742,-1.038,-2.063, 0.019, PHS=-0.672,-1.010,-2.085, RAW= 43.2, 46.2, CAL= 40.1, 51.3, ROT= 109.9, -51.3
2025-06-05T06:04:40.878Z,1749103480.878 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-06-05T06:04:40.879Z,1749103480.879 [DAT](INFO): direction in FSK: [-0.212820,0.587908,0.780430]
2025-06-05T06:04:40.880Z,1749103480.880 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:40.891Z,1749103480.891 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=47.386425
2025-06-05T06:04:41.096Z,1749103481.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.503717 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:41.103Z,1749103481.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.190263 m,
bearing: 107.026558 deg,
lat: 36.906117 deg,
lon: -122.116037 deg,
deltaT: 0.503717 s,
deltaX: -0.000013 m,
approachRate: -0.000026 m/s,
posRepo size: 4
2025-06-05T06:04:41.115Z,1749103481.115 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=47.610401
2025-06-05T06:04:41.146Z,1749103481.146 [DockingStepper](INFO): Stopping
2025-06-05T06:04:41.368Z,1749103481.368 [DAT](INFO): DAT read: Rx Time:06:04:40.2575
2025-06-05T06:04:41.368Z,1749103481.368 [DAT](INFO): Rx dataTimestamp_ set to:1749103481.367894
2025-06-05T06:04:41.369Z,1749103481.369 [DAT](INFO): DAT read: Bearing 112.5, -50.9 (Local)
2025-06-05T06:04:41.370Z,1749103481.370 [DAT](INFO): Local bearing/azimuth received:
Bearing 112.5, -50.9 (Local)
2025-06-05T06:04:41.372Z,1749103481.372 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:41.378Z,1749103481.378 [DAT](INFO): DAT read: 06:04:40.2575 LVL= 10192, 13985, 10610, 9139, AGC= 25, IDX= 502, 0.08,-1.921,-2.153, 3.084,-1.162, PHS=-0.670,-0.944,-2.040, RAW= 40.9, 45.8, CAL= 37.5, 50.9, ROT= 112.5, -50.9
2025-06-05T06:04:41.379Z,1749103481.379 [DAT](INFO): got valid direction response:
06:04:40.2575 LVL= 10192, 13985, 10610, 9139, AGC= 25, IDX= 502, 0.08,-1.921,-2.153, 3.084,-1.162, PHS=-0.670,-0.944,-2.040, RAW= 40.9, 45.8, CAL= 37.5, 50.9, ROT= 112.5, -50.9
2025-06-05T06:04:41.380Z,1749103481.380 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-06-05T06:04:41.381Z,1749103481.381 [DAT](INFO): direction in FSK: [-0.241349,0.582668,0.776046]
2025-06-05T06:04:41.381Z,1749103481.381 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:41.384Z,1749103481.384 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=47.879543
2025-06-05T06:04:41.532Z,1749103481.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.502957 s,
deltaX: -0.100000 m,
approachRate: -0.198824 m/s,
rangeRepo size: 4
2025-06-05T06:04:41.539Z,1749103481.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091075 m,
bearing: 109.334618 deg,
lat: 36.906118 deg,
lon: -122.116037 deg,
deltaT: 0.502957 s,
deltaX: -0.099189 m,
approachRate: -0.197211 m/s,
posRepo size: 4
2025-06-05T06:04:41.622Z,1749103481.622 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=48.116661
2025-06-05T06:04:41.638Z,1749103481.638 [DockingStepper](INFO): Stopping
2025-06-05T06:04:41.872Z,1749103481.872 [DAT](INFO): DAT read: Rx Time:06:04:40.7576
2025-06-05T06:04:41.872Z,1749103481.872 [DAT](INFO): Rx dataTimestamp_ set to:1749103481.871784
2025-06-05T06:04:41.873Z,1749103481.873 [DAT](INFO): DAT read: Bearing 114.4, -51.5 (Local)
2025-06-05T06:04:41.874Z,1749103481.874 [DAT](INFO): Local bearing/azimuth received:
Bearing 114.4, -51.5 (Local)
2025-06-05T06:04:41.877Z,1749103481.877 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:41.881Z,1749103481.881 [DAT](INFO): DAT read: 06:04:40.7576 LVL= 12224, 11857, 11570, 10195, AGC= 25, IDX= 503, 0.11,-0.031,-0.209,-1.244, 0.756, PHS=-0.699,-0.918,-2.004, RAW= 39.0, 46.6, CAL= 35.6, 51.5, ROT= 114.4, -51.5
2025-06-05T06:04:41.882Z,1749103481.882 [DAT](INFO): got valid direction response:
06:04:40.7576 LVL= 12224, 11857, 11570, 10195, AGC= 25, IDX= 503, 0.11,-0.031,-0.209,-1.244, 0.756, PHS=-0.699,-0.918,-2.004, RAW= 39.0, 46.6, CAL= 35.6, 51.5, ROT= 114.4, -51.5
2025-06-05T06:04:41.883Z,1749103481.883 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-06-05T06:04:41.884Z,1749103481.884 [DAT](INFO): direction in FSK: [-0.257164,0.566914,0.782608]
2025-06-05T06:04:41.884Z,1749103481.884 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:41.888Z,1749103481.888 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=48.382828
2025-06-05T06:04:42.025Z,1749103482.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.503890 s,
deltaX: 0.100000 m,
approachRate: 0.198456 m/s,
rangeRepo size: 4
2025-06-05T06:04:42.033Z,1749103482.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.190253 m,
bearing: 111.558899 deg,
lat: 36.906119 deg,
lon: -122.116037 deg,
deltaT: 0.503890 s,
deltaX: 0.099178 m,
approachRate: 0.196825 m/s,
posRepo size: 4
2025-06-05T06:04:42.057Z,1749103482.057 [DockingStepper](INFO): Stopping
2025-06-05T06:04:42.123Z,1749103482.123 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=48.618626
2025-06-05T06:04:42.271Z,1749103482.271 [DockingStepper](INFO): Stopping
2025-06-05T06:04:42.377Z,1749103482.377 [DAT](INFO): DAT read: Rx Time:06:04:41.2575
2025-06-05T06:04:42.377Z,1749103482.377 [DAT](INFO): Rx dataTimestamp_ set to:1749103482.377197
2025-06-05T06:04:42.379Z,1749103482.379 [DAT](INFO): DAT read: Bearing 120.0, -50.5 (Local)
2025-06-05T06:04:42.379Z,1749103482.379 [DAT](INFO): Local bearing/azimuth received:
Bearing 120.0, -50.5 (Local)
2025-06-05T06:04:42.381Z,1749103482.381 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:42.386Z,1749103482.386 [DAT](INFO): DAT read: 06:04:41.2575 LVL= 13424, 8049, 13394, 10131, AGC= 26, IDX= 502, 0.03, 0.251, 0.201,-0.892, 1.050, PHS=-0.710,-0.801,-1.944, RAW= 33.8, 45.7, CAL= 30.0, 50.5, ROT= 120.0, -50.5
2025-06-05T06:04:42.387Z,1749103482.387 [DAT](INFO): got valid direction response:
06:04:41.2575 LVL= 13424, 8049, 13394, 10131, AGC= 26, IDX= 502, 0.03, 0.251, 0.201,-0.892, 1.050, PHS=-0.710,-0.801,-1.944, RAW= 33.8, 45.7, CAL= 30.0, 50.5, ROT= 120.0, -50.5
2025-06-05T06:04:42.387Z,1749103482.387 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-06-05T06:04:42.388Z,1749103482.388 [DAT](INFO): direction in FSK: [-0.318039,0.550860,0.771625]
2025-06-05T06:04:42.389Z,1749103482.389 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:42.407Z,1749103482.407 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=48.901848
2025-06-05T06:04:42.642Z,1749103482.642 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=49.124462
2025-06-05T06:04:42.747Z,1749103482.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.505413 s,
deltaX: -0.100000 m,
approachRate: -0.197858 m/s,
rangeRepo size: 4
2025-06-05T06:04:42.749Z,1749103482.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091065 m,
bearing: 116.478484 deg,
lat: 36.906119 deg,
lon: -122.116038 deg,
deltaT: 0.505413 s,
deltaX: -0.099188 m,
approachRate: -0.196251 m/s,
posRepo size: 4
2025-06-05T06:04:42.819Z,1749103482.819 [DockingStepper](INFO): Stopped
2025-06-05T06:04:42.850Z,1749103482.850 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-06-05T06:04:42.850Z,1749103482.850 [DockingStepper] No Fault, FailCount= 1
2025-06-05T06:04:42.879Z,1749103482.879 [DAT](INFO): DAT read: Rx Time:06:04:41.7575
2025-06-05T06:04:42.880Z,1749103482.880 [DAT](INFO): Rx dataTimestamp_ set to:1749103482.879651
2025-06-05T06:04:42.881Z,1749103482.881 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:42.882Z,1749103482.882 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-06-05T06:04:42.883Z,1749103482.883 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=49.377880
2025-06-05T06:04:43.063Z,1749103483.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:43.065Z,1749103483.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.502454 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:43.081Z,1749103483.081 [DockingStepper](INFO): Start
2025-06-05T06:04:43.081Z,1749103483.081 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-05T06:04:43.081Z,1749103483.081 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-05T06:04:43.131Z,1749103483.131 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=49.626652
2025-06-05T06:04:43.383Z,1749103483.383 [DAT](INFO): DAT read: Rx Time:06:04:42.2575
2025-06-05T06:04:43.384Z,1749103483.384 [DAT](INFO): Rx dataTimestamp_ set to:1749103483.383363
2025-06-05T06:04:43.385Z,1749103483.385 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:43.385Z,1749103483.385 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-06-05T06:04:43.386Z,1749103483.386 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:04:43.386Z,1749103483.386 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:04:43.387Z,1749103483.387 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:43.533Z,1749103483.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.503712 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:43.637Z,1749103483.637 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:43.637Z,1749103483.637 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:43.639Z,1749103483.639 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:43.751Z,1749103483.751 [DockingStepper](INFO): Starting
2025-06-05T06:04:43.888Z,1749103483.888 [DAT](INFO): DAT read: Rx Time:06:04:42.7576
2025-06-05T06:04:43.888Z,1749103483.888 [DAT](INFO): Rx dataTimestamp_ set to:1749103483.887893
2025-06-05T06:04:43.889Z,1749103483.889 [DAT](INFO): DAT read: Bearing 284.8, -54.5 (Local)
2025-06-05T06:04:43.890Z,1749103483.890 [DAT](INFO): Local bearing/azimuth received:
Bearing 284.8, -54.5 (Local)
2025-06-05T06:04:43.893Z,1749103483.893 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:43.898Z,1749103483.898 [DAT](INFO): DAT read: 06:04:42.7576 LVL= 13520, 21537, 9778, 15091, AGC= 27, IDX= 505, 0.48,-2.861,-2.418,-1.034,-0.549, PHS=-2.223,-1.822,-0.487, RAW= 222.8, 45.5, CAL= 225.2, 54.5, ROT= 284.8, -54.5
2025-06-05T06:04:43.899Z,1749103483.899 [DAT](INFO): got valid direction response:
06:04:42.7576 LVL= 13520, 21537, 9778, 15091, AGC= 27, IDX= 505, 0.48,-2.861,-2.418,-1.034,-0.549, PHS=-2.223,-1.822,-0.487, RAW= 222.8, 45.5, CAL= 225.2, 54.5, ROT= 284.8, -54.5
2025-06-05T06:04:43.900Z,1749103483.900 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:43.901Z,1749103483.901 [DAT](INFO): direction in FSK: [0.148338,-0.561437,0.814116]
2025-06-05T06:04:43.901Z,1749103483.901 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:43.909Z,1749103483.909 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:43.918Z,1749103483.918 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:44.078Z,1749103484.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.200000 m,
deltaT: 0.504530 s,
deltaX: 0.100000 m,
approachRate: 0.198204 m/s,
rangeRepo size: 4
2025-06-05T06:04:44.084Z,1749103484.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.190252 m,
bearing: 262.501365 deg,
lat: 36.906120 deg,
lon: -122.116038 deg,
deltaT: 1.510696 s,
deltaX: 0.099187 m,
approachRate: 0.065656 m/s,
posRepo size: 4
2025-06-05T06:04:44.139Z,1749103484.139 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:44.139Z,1749103484.139 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:44.139Z,1749103484.139 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:44.145Z,1749103484.145 [DockingStepper](INFO): Starting
2025-06-05T06:04:44.199Z,1749103484.199 [DockingStepper](INFO): Init string: /1z12992aE13561N3m50
2025-06-05T06:04:44.393Z,1749103484.393 [DAT](INFO): DAT read: Rx Time:06:04:43.2575
2025-06-05T06:04:44.394Z,1749103484.394 [DAT](INFO): Rx dataTimestamp_ set to:1749103484.393373
2025-06-05T06:04:44.395Z,1749103484.395 [DAT](INFO): DAT read: Bearing 304.3, -42.9 (Local)
2025-06-05T06:04:44.396Z,1749103484.396 [DAT](INFO): Local bearing/azimuth received:
Bearing 304.3, -42.9 (Local)
2025-06-05T06:04:44.398Z,1749103484.398 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:44.402Z,1749103484.402 [DAT](INFO): DAT read: 06:04:43.2575 LVL= 12080, 23921, 9458, 14147, AGC= 27, IDX= 504, 0.32,-1.358,-1.393, 0.567, 0.491, PHS=-1.762,-1.837, 0.073, RAW= 208.0, 33.6, CAL= 205.7, 42.9, ROT= 304.3, -42.9
2025-06-05T06:04:44.403Z,1749103484.403 [DAT](INFO): got valid direction response:
06:04:43.2575 LVL= 12080, 23921, 9458, 14147, AGC= 27, IDX= 504, 0.32,-1.358,-1.393, 0.567, 0.491, PHS=-1.762,-1.837, 0.073, RAW= 208.0, 33.6, CAL= 205.7, 42.9, ROT= 304.3, -42.9
2025-06-05T06:04:44.404Z,1749103484.404 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:44.405Z,1749103484.405 [DAT](INFO): direction in FSK: [0.412807,-0.605153,0.680721]
2025-06-05T06:04:44.405Z,1749103484.405 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:44.409Z,1749103484.409 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:44.410Z,1749103484.410 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:44.575Z,1749103484.575 [DockingStepper](INFO): Starting
2025-06-05T06:04:44.644Z,1749103484.644 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:44.645Z,1749103484.645 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:44.647Z,1749103484.647 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:44.845Z,1749103484.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.505480 s,
deltaX: -0.100000 m,
approachRate: -0.197832 m/s,
rangeRepo size: 4
2025-06-05T06:04:44.851Z,1749103484.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.091064 m,
bearing: 283.033360 deg,
lat: 36.906120 deg,
lon: -122.116039 deg,
deltaT: 0.505480 s,
deltaX: -0.099188 m,
approachRate: -0.196226 m/s,
posRepo size: 4
2025-06-05T06:04:44.881Z,1749103484.881 [DockingStepper](INFO): Starting
2025-06-05T06:04:44.897Z,1749103484.897 [DAT](INFO): DAT read: Rx Time:06:04:43.7575
2025-06-05T06:04:44.897Z,1749103484.897 [DAT](INFO): Rx dataTimestamp_ set to:1749103484.896837
2025-06-05T06:04:44.900Z,1749103484.900 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:44.900Z,1749103484.900 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T06:04:44.901Z,1749103484.901 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:44.902Z,1749103484.902 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:45.147Z,1749103485.147 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:45.147Z,1749103485.147 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:45.147Z,1749103485.147 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:45.202Z,1749103485.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:45.205Z,1749103485.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.503464 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-06-05T06:04:45.229Z,1749103485.229 [DockingStepper](INFO): Starting
2025-06-05T06:04:45.399Z,1749103485.399 [DAT](INFO): DAT read: Rx Time:06:04:44.2574
2025-06-05T06:04:45.400Z,1749103485.400 [DAT](INFO): Rx dataTimestamp_ set to:1749103485.399421
2025-06-05T06:04:45.401Z,1749103485.401 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:45.401Z,1749103485.401 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T06:04:45.402Z,1749103485.402 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:45.403Z,1749103485.403 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:45.558Z,1749103485.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.502584 s,
deltaX: -0.200000 m,
approachRate: -0.397944 m/s,
rangeRepo size: 4
2025-06-05T06:04:45.573Z,1749103485.573 [DockingStepper](INFO): Starting
2025-06-05T06:04:45.653Z,1749103485.653 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:45.653Z,1749103485.653 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:45.655Z,1749103485.655 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:45.903Z,1749103485.903 [DAT](INFO): DAT read: Rx Time:06:04:44.7575
2025-06-05T06:04:45.904Z,1749103485.904 [DAT](INFO): Rx dataTimestamp_ set to:1749103485.903455
2025-06-05T06:04:45.905Z,1749103485.905 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:45.905Z,1749103485.905 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T06:04:45.906Z,1749103485.906 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:45.907Z,1749103485.907 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:46.036Z,1749103486.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.504034 s,
deltaX: 0.200000 m,
approachRate: 0.396799 m/s,
rangeRepo size: 4
2025-06-05T06:04:46.065Z,1749103486.065 [DockingStepper](INFO): Starting
2025-06-05T06:04:46.091Z,1749103486.091 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-05T06:04:46.155Z,1749103486.155 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:46.155Z,1749103486.155 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:46.155Z,1749103486.155 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:46.385Z,1749103486.385 [DockingStepper](INFO): Starting
2025-06-05T06:04:46.409Z,1749103486.409 [DAT](INFO): DAT read: Rx Time:06:04:45.2574
2025-06-05T06:04:46.410Z,1749103486.410 [DAT](INFO): Rx dataTimestamp_ set to:1749103486.409051
2025-06-05T06:04:46.411Z,1749103486.411 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:46.412Z,1749103486.412 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T06:04:46.413Z,1749103486.413 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:46.413Z,1749103486.413 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:46.661Z,1749103486.661 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:46.662Z,1749103486.662 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:46.663Z,1749103486.663 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:46.822Z,1749103486.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 0.900000 m,
deltaT: 0.505596 s,
deltaX: -0.200000 m,
approachRate: -0.395573 m/s,
rangeRepo size: 4
2025-06-05T06:04:46.839Z,1749103486.839 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T06:04:46.840Z,1749103486.840 [DockingStepper](INFO): Standby mode.
2025-06-05T06:04:46.906Z,1749103486.906 [DockingStepper](INFO): Commanding positive:21302
2025-06-05T06:04:46.916Z,1749103486.916 [DAT](INFO): DAT read: Rx Time:06:04:45.7575
2025-06-05T06:04:46.916Z,1749103486.916 [DAT](INFO): Rx dataTimestamp_ set to:1749103486.915692
2025-06-05T06:04:46.917Z,1749103486.917 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:46.918Z,1749103486.918 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T06:04:46.919Z,1749103486.919 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:46.919Z,1749103486.919 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:47.162Z,1749103487.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.100000 m,
deltaT: 0.506641 s,
deltaX: 0.200000 m,
approachRate: 0.394757 m/s,
rangeRepo size: 4
2025-06-05T06:04:47.163Z,1749103487.163 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:47.163Z,1749103487.163 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:47.163Z,1749103487.163 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:47.179Z,1749103487.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.10 m. Lat: 36.906120 Lon: -122.116039 Cable present.
2025-06-05T06:04:47.179Z,1749103487.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-06-05T06:04:47.179Z,1749103487.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-05T06:04:47.180Z,1749103487.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-06-05T06:04:47.417Z,1749103487.417 [DAT](INFO): DAT read: Rx Time:06:04:46.2575
2025-06-05T06:04:47.419Z,1749103487.419 [DAT](INFO): Rx dataTimestamp_ set to:1749103487.418084
2025-06-05T06:04:47.421Z,1749103487.421 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:47.422Z,1749103487.422 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T06:04:47.424Z,1749103487.424 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:47.424Z,1749103487.424 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:47.581Z,1749103487.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:47.586Z,1749103487.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-06-05T06:04:47.586Z,1749103487.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-06-05T06:04:47.587Z,1749103487.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-06-05T06:04:47.669Z,1749103487.669 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:47.669Z,1749103487.669 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:47.671Z,1749103487.671 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:47.920Z,1749103487.920 [DAT](INFO): DAT read: Rx Time:06:04:46.7576
2025-06-05T06:04:47.920Z,1749103487.920 [DAT](INFO): Rx dataTimestamp_ set to:1749103487.919844
2025-06-05T06:04:47.921Z,1749103487.921 [DAT](INFO): DAT read: Bearing 130.1, -53.6 (Local)
2025-06-05T06:04:47.922Z,1749103487.922 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.1, -53.6 (Local)
2025-06-05T06:04:47.924Z,1749103487.924 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:47.930Z,1749103487.930 [DAT](INFO): DAT read: 06:04:46.7576 LVL= 14752, 25361, 11330, 13587, AGC= 27, IDX= 504,-0.22, 3.042,-3.066, 2.062,-2.192, PHS=-0.962,-0.827,-2.032, RAW= 24.1, 49.7, CAL= 19.9, 53.6, ROT= 130.1, -53.6
2025-06-05T06:04:47.939Z,1749103487.939 [DAT](INFO): got valid direction response:
06:04:46.7576 LVL= 14752, 25361, 11330, 13587, AGC= 27, IDX= 504,-0.22, 3.042,-3.066, 2.062,-2.192, PHS=-0.962,-0.827,-2.032, RAW= 24.1, 49.7, CAL= 19.9, 53.6, ROT= 130.1, -53.6
2025-06-05T06:04:47.939Z,1749103487.939 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:47.940Z,1749103487.940 [DAT](INFO): direction in FSK: [-0.382235,0.453919,0.804894]
2025-06-05T06:04:47.941Z,1749103487.941 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:47.964Z,1749103487.964 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:47.965Z,1749103487.965 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:48.103Z,1749103488.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-06-05T06:04:48.105Z,1749103488.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T06:04:48.105Z,1749103488.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-05T06:04:48.105Z,1749103488.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T06:04:48.105Z,1749103488.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-05T06:04:48.105Z,1749103488.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-05T06:04:48.105Z,1749103488.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-05T06:04:48.105Z,1749103488.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-05T06:04:48.105Z,1749103488.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-05T06:04:48.105Z,1749103488.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-05T06:04:48.105Z,1749103488.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T06:04:48.172Z,1749103488.172 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:48.173Z,1749103488.173 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:48.173Z,1749103488.173 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:48.390Z,1749103488.390 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-06-05T06:04:48.391Z,1749103488.391 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-05T06:04:48.391Z,1749103488.391 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-05T06:04:48.391Z,1749103488.391 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-05T06:04:48.391Z,1749103488.391 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-06-05T06:04:48.391Z,1749103488.391 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-05T06:04:48.392Z,1749103488.392 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2025-06-05T06:04:48.392Z,1749103488.392 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-06-05T06:04:48.392Z,1749103488.392 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-06-05T06:04:48.395Z,1749103488.395 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-06-05T06:04:48.395Z,1749103488.395 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-05T06:04:48.395Z,1749103488.395 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-06-05T06:04:48.395Z,1749103488.395 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-05T06:04:48.395Z,1749103488.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-05T06:04:48.395Z,1749103488.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T06:04:48.395Z,1749103488.395 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-06-05T06:04:48.395Z,1749103488.395 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-06-05T06:04:48.425Z,1749103488.425 [DAT](INFO): DAT read: Rx Time:06:04:47.2575
2025-06-05T06:04:48.426Z,1749103488.426 [DAT](INFO): Rx dataTimestamp_ set to:1749103488.425174
2025-06-05T06:04:48.428Z,1749103488.428 [DAT](INFO): DAT read: Bearing 294.6, -72.2 (Local)
2025-06-05T06:04:48.429Z,1749103488.429 [DAT](INFO): Local bearing/azimuth received:
Bearing 294.6, -72.2 (Local)
2025-06-05T06:04:48.431Z,1749103488.431 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:48.435Z,1749103488.435 [DAT](INFO): DAT read: 06:04:47.2575 LVL= 13728, 26449, 7730, 14883, AGC= 28, IDX= 503, 0.45, 1.592, 1.692, 2.195, 3.002, PHS=-1.322,-1.264,-0.810, RAW= 216.0, 68.0, CAL= 215.4, 72.2, ROT= 294.6, -72.2
2025-06-05T06:04:48.436Z,1749103488.436 [DAT](INFO): got valid direction response:
06:04:47.2575 LVL= 13728, 26449, 7730, 14883, AGC= 28, IDX= 503, 0.45, 1.592, 1.692, 2.195, 3.002, PHS=-1.322,-1.264,-0.810, RAW= 216.0, 68.0, CAL= 215.4, 72.2, ROT= 294.6, -72.2
2025-06-05T06:04:48.437Z,1749103488.437 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:48.438Z,1749103488.438 [DAT](INFO): direction in FSK: [0.127255,-0.277949,0.952129]
2025-06-05T06:04:48.442Z,1749103488.442 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:48.447Z,1749103488.447 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:48.447Z,1749103488.447 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:48.679Z,1749103488.679 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:48.680Z,1749103488.680 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:48.681Z,1749103488.681 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:48.923Z,1749103488.923 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-06-05T06:04:48.923Z,1749103488.923 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-06-05T06:04:48.928Z,1749103488.928 [DAT](INFO): DAT read: Rx Time:06:04:47.7575
2025-06-05T06:04:48.929Z,1749103488.929 [DAT](INFO): Rx dataTimestamp_ set to:1749103488.928501
2025-06-05T06:04:48.930Z,1749103488.930 [DAT](INFO): DAT read: Bearing 287.9, -52.0 (Local)
2025-06-05T06:04:48.930Z,1749103488.930 [DAT](INFO): Local bearing/azimuth received:
Bearing 287.9, -52.0 (Local)
2025-06-05T06:04:48.932Z,1749103488.932 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:48.937Z,1749103488.937 [DAT](INFO): DAT read: 06:04:47.7575 LVL= 13584, 26353, 9442, 12979, AGC= 30, IDX= 504, 0.19,-0.491,-0.095, 1.328, 1.651, PHS=-2.054,-1.699,-0.326, RAW= 221.2, 42.4, CAL= 222.1, 52.0, ROT= 287.9, -52.0
2025-06-05T06:04:48.938Z,1749103488.938 [DAT](INFO): got valid direction response:
06:04:47.7575 LVL= 13584, 26353, 9442, 12979, AGC= 30, IDX= 504, 0.19,-0.491,-0.095, 1.328, 1.651, PHS=-2.054,-1.699,-0.326, RAW= 221.2, 42.4, CAL= 222.1, 52.0, ROT= 287.9, -52.0
2025-06-05T06:04:48.939Z,1749103488.939 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:48.939Z,1749103488.939 [DAT](INFO): direction in FSK: [0.189227,-0.585860,0.788011]
2025-06-05T06:04:48.940Z,1749103488.940 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:48.947Z,1749103488.947 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:48.948Z,1749103488.948 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:49.179Z,1749103489.179 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:49.179Z,1749103489.179 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:49.179Z,1749103489.179 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:49.222Z,1749103489.222 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-06-05T06:04:49.222Z,1749103489.222 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-05T06:04:49.223Z,1749103489.223 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-06-05T06:04:49.431Z,1749103489.431 [DAT](INFO): DAT read: Rx Time:06:04:48.2574
2025-06-05T06:04:49.432Z,1749103489.432 [DAT](INFO): Rx dataTimestamp_ set to:1749103489.431480
2025-06-05T06:04:49.433Z,1749103489.433 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:49.433Z,1749103489.433 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T06:04:49.434Z,1749103489.434 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:49.435Z,1749103489.435 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T06:04:49.450Z,1749103489.450 [DockingStepper](INFO): Commanding positive:20508
2025-06-05T06:04:49.598Z,1749103489.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:49.686Z,1749103489.686 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:49.687Z,1749103489.687 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:49.688Z,1749103489.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:49.935Z,1749103489.935 [DAT](INFO): DAT read: Rx Time:06:04:48.7576
2025-06-05T06:04:49.936Z,1749103489.936 [DAT](INFO): Rx dataTimestamp_ set to:1749103489.935362
2025-06-05T06:04:49.937Z,1749103489.937 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:49.937Z,1749103489.937 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T06:04:49.938Z,1749103489.938 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:49.938Z,1749103489.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:50.187Z,1749103490.187 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:50.187Z,1749103490.187 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:50.187Z,1749103490.187 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:50.441Z,1749103490.441 [DAT](INFO): DAT read: Rx Time:06:04:49.2575
2025-06-05T06:04:50.442Z,1749103490.442 [DAT](INFO): Rx dataTimestamp_ set to:1749103490.440904
2025-06-05T06:04:50.444Z,1749103490.444 [DAT](INFO): DAT read: Bearing 108.7, -57.6 (Local)
2025-06-05T06:04:50.445Z,1749103490.445 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.7, -57.6 (Local)
2025-06-05T06:04:50.448Z,1749103490.448 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:50.455Z,1749103490.455 [DAT](INFO): DAT read: 06:04:49.2575 LVL= 11600, 13041, 12546, 10995, AGC= 26, IDX= 501, 0.11, 3.038, 2.802, 2.020,-2.354, PHS=-0.803,-1.080,-1.912, RAW= 43.9, 53.3, CAL= 41.3, 57.6, ROT= 108.7, -57.6
2025-06-05T06:04:50.456Z,1749103490.456 [DAT](INFO): got valid direction response:
06:04:49.2575 LVL= 11600, 13041, 12546, 10995, AGC= 26, IDX= 501, 0.11, 3.038, 2.802, 2.020,-2.354, PHS=-0.803,-1.080,-1.912, RAW= 43.9, 53.3, CAL= 41.3, 57.6, ROT= 108.7, -57.6
2025-06-05T06:04:50.457Z,1749103490.457 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:50.483Z,1749103490.483 [DAT](INFO): direction in FSK: [-0.171793,0.507541,0.844328]
2025-06-05T06:04:50.483Z,1749103490.483 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:50.490Z,1749103490.490 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:50.492Z,1749103490.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:50.691Z,1749103490.691 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:50.691Z,1749103490.691 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:50.691Z,1749103490.691 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:50.946Z,1749103490.946 [DAT](INFO): DAT read: Rx Time:06:04:49.7576
2025-06-05T06:04:50.947Z,1749103490.947 [DAT](INFO): Rx dataTimestamp_ set to:1749103490.946658
2025-06-05T06:04:50.948Z,1749103490.948 [DAT](INFO): DAT read: Bearing 108.1, -55.2 (Local)
2025-06-05T06:04:50.948Z,1749103490.948 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.1, -55.2 (Local)
2025-06-05T06:04:50.951Z,1749103490.951 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:50.956Z,1749103490.956 [DAT](INFO): DAT read: 06:04:49.7576 LVL= 9824, 13441, 11714, 11299, AGC= 26, IDX= 502, 0.16,-2.019,-2.294,-3.135,-1.197, PHS=-0.733,-1.050,-1.941, RAW= 44.7, 50.5, CAL= 41.9, 55.2, ROT= 108.1, -55.2
2025-06-05T06:04:50.957Z,1749103490.957 [DAT](INFO): got valid direction response:
06:04:49.7576 LVL= 9824, 13441, 11714, 11299, AGC= 26, IDX= 502, 0.16,-2.019,-2.294,-3.135,-1.197, PHS=-0.733,-1.050,-1.941, RAW= 44.7, 50.5, CAL= 41.9, 55.2, ROT= 108.1, -55.2
2025-06-05T06:04:50.958Z,1749103490.958 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:50.964Z,1749103490.964 [DAT](INFO): direction in FSK: [-0.177307,0.542472,0.821149]
2025-06-05T06:04:50.964Z,1749103490.964 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:50.974Z,1749103490.974 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:50.979Z,1749103490.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:51.195Z,1749103491.195 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:51.195Z,1749103491.195 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:51.195Z,1749103491.195 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:51.448Z,1749103491.448 [DAT](INFO): DAT read: Rx Time:06:04:50.2575
2025-06-05T06:04:51.448Z,1749103491.448 [DAT](INFO): Rx dataTimestamp_ set to:1749103491.447876
2025-06-05T06:04:51.449Z,1749103491.449 [DAT](INFO): DAT read: Bearing 101.8, -56.2 (Local)
2025-06-05T06:04:51.450Z,1749103491.450 [DAT](INFO): Local bearing/azimuth received:
Bearing 101.8, -56.2 (Local)
2025-06-05T06:04:51.452Z,1749103491.452 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:51.472Z,1749103491.472 [DAT](INFO): DAT read: 06:04:50.2575 LVL= 7312, 16225, 8210, 9299, AGC= 25, IDX= 501, 0.06,-1.717,-2.127,-2.892,-0.889, PHS=-0.740,-1.191,-2.006, RAW= 50.6, 51.4, CAL= 48.2, 56.2, ROT= 101.8, -56.2
2025-06-05T06:04:51.473Z,1749103491.473 [DAT](INFO): got valid direction response:
06:04:50.2575 LVL= 7312, 16225, 8210, 9299, AGC= 25, IDX= 501, 0.06,-1.717,-2.127,-2.892,-0.889, PHS=-0.740,-1.191,-2.006, RAW= 50.6, 51.4, CAL= 48.2, 56.2, ROT= 101.8, -56.2
2025-06-05T06:04:51.474Z,1749103491.474 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:51.484Z,1749103491.484 [DAT](INFO): direction in FSK: [-0.113760,0.544540,0.830984]
2025-06-05T06:04:51.484Z,1749103491.484 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:51.497Z,1749103491.497 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:51.519Z,1749103491.519 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:51.699Z,1749103491.699 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:51.699Z,1749103491.699 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:51.700Z,1749103491.700 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:51.906Z,1749103491.906 [DockingStepper](INFO): Commanding positive:20403
2025-06-05T06:04:51.955Z,1749103491.955 [DAT](INFO): DAT read: Rx Time:06:04:50.7576
2025-06-05T06:04:51.956Z,1749103491.956 [DAT](INFO): Rx dataTimestamp_ set to:1749103491.955309
2025-06-05T06:04:51.957Z,1749103491.957 [DAT](INFO): DAT read: Bearing 97.4, -49.5 (Local)
2025-06-05T06:04:51.958Z,1749103491.958 [DAT](INFO): Local bearing/azimuth received:
Bearing 97.4, -49.5 (Local)
2025-06-05T06:04:51.962Z,1749103491.962 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:51.971Z,1749103491.971 [DAT](INFO): DAT read: 06:04:50.7576 LVL= 7664, 19729, 8946, 9267, AGC= 26, IDX= 502, 0.01, 1.192, 0.550,-0.316, 1.765, PHS=-0.485,-1.168,-2.083, RAW= 55.2, 43.6, CAL= 52.6, 49.5, ROT= 97.4, -49.5
2025-06-05T06:04:51.972Z,1749103491.972 [DAT](INFO): got valid direction response:
06:04:50.7576 LVL= 7664, 19729, 8946, 9267, AGC= 26, IDX= 502, 0.01, 1.192, 0.550,-0.316, 1.765, PHS=-0.485,-1.168,-2.083, RAW= 55.2, 43.6, CAL= 52.6, 49.5, ROT= 97.4, -49.5
2025-06-05T06:04:51.972Z,1749103491.972 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:51.973Z,1749103491.973 [DAT](INFO): direction in FSK: [-0.083646,0.644039,0.760406]
2025-06-05T06:04:51.974Z,1749103491.974 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:51.989Z,1749103491.989 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:51.989Z,1749103491.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:52.203Z,1749103492.203 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:52.203Z,1749103492.203 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:52.203Z,1749103492.203 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:52.217Z,1749103492.217 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-06-05T06:04:52.217Z,1749103492.217 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-06-05T06:04:52.217Z,1749103492.217 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T06:04:52.217Z,1749103492.217 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-06-05T06:04:52.456Z,1749103492.456 [DAT](INFO): DAT read: Rx Time:06:04:51.2575
2025-06-05T06:04:52.457Z,1749103492.457 [DAT](INFO): Rx dataTimestamp_ set to:1749103492.456284
2025-06-05T06:04:52.458Z,1749103492.458 [DAT](INFO): DAT read: Bearing 84.6, -49.5 (Local)
2025-06-05T06:04:52.459Z,1749103492.459 [DAT](INFO): Local bearing/azimuth received:
Bearing 84.6, -49.5 (Local)
2025-06-05T06:04:52.462Z,1749103492.462 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:52.466Z,1749103492.466 [DAT](INFO): DAT read: 06:04:51.2575 LVL= 6960, 19905, 7858, 10051, AGC= 25, IDX= 501,-0.00, 0.845,-0.157,-0.765, 1.321, PHS=-0.388,-1.431,-2.089, RAW= 67.4, 42.9, CAL= 65.4, 49.5, ROT= 84.6, -49.5
2025-06-05T06:04:52.467Z,1749103492.467 [DAT](INFO): got valid direction response:
06:04:51.2575 LVL= 6960, 19905, 7858, 10051, AGC= 25, IDX= 501,-0.00, 0.845,-0.157,-0.765, 1.321, PHS=-0.388,-1.431,-2.089, RAW= 67.4, 42.9, CAL= 65.4, 49.5, ROT= 84.6, -49.5
2025-06-05T06:04:52.468Z,1749103492.468 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:52.468Z,1749103492.468 [DAT](INFO): direction in FSK: [0.061118,0.646566,0.760406]
2025-06-05T06:04:52.469Z,1749103492.469 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:52.495Z,1749103492.495 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:52.495Z,1749103492.495 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:52.605Z,1749103492.605 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count
2025-06-05T06:04:52.605Z,1749103492.605 [lineCaptureHoming:LineCapture:M] Stopped
2025-06-05T06:04:52.616Z,1749103492.616 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-06-05T06:04:52.616Z,1749103492.616 [lineCaptureHoming:LineCapture] Stopped
2025-06-05T06:04:52.616Z,1749103492.616 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-06-05T06:04:52.616Z,1749103492.616 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-06-05T06:04:52.616Z,1749103492.616 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-05T06:04:52.616Z,1749103492.616 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T06:04:52.616Z,1749103492.616 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T06:04:52.617Z,1749103492.617 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T06:04:52.617Z,1749103492.617 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T06:04:52.617Z,1749103492.617 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T06:04:52.617Z,1749103492.617 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T06:04:52.617Z,1749103492.617 [lineCaptureHoming:LineCapture:G] Stopped
2025-06-05T06:04:52.617Z,1749103492.617 [lineCaptureHoming:LineCapture:H] Stopped
2025-06-05T06:04:52.617Z,1749103492.617 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-06-05T06:04:52.617Z,1749103492.617 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-06-05T06:04:52.617Z,1749103492.617 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-06-05T06:04:52.617Z,1749103492.617 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-06-05T06:04:52.617Z,1749103492.617 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-06-05T06:04:52.617Z,1749103492.617 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-06-05T06:04:52.617Z,1749103492.617 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-05T06:04:52.617Z,1749103492.617 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-06-05T06:04:52.618Z,1749103492.618 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T06:04:52.707Z,1749103492.707 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:52.707Z,1749103492.707 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:52.708Z,1749103492.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:52.962Z,1749103492.962 [DAT](INFO): DAT read: Rx Time:06:04:51.7575
2025-06-05T06:04:52.963Z,1749103492.963 [DAT](INFO): Rx dataTimestamp_ set to:1749103492.962572
2025-06-05T06:04:52.965Z,1749103492.965 [DAT](INFO): DAT read: Bearing 81.0, -47.0 (Local)
2025-06-05T06:04:52.965Z,1749103492.965 [DAT](INFO): Local bearing/azimuth received:
Bearing 81.0, -47.0 (Local)
2025-06-05T06:04:52.968Z,1749103492.968 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:52.980Z,1749103492.980 [DAT](INFO): DAT read: 06:04:51.7575 LVL= 8624, 20465, 10178, 12915, AGC= 26, IDX= 501, 0.08, 1.108,-0.084,-0.646, 1.452, PHS=-0.256,-1.489,-2.101, RAW= 71.0, 39.9, CAL= 69.0, 47.0, ROT= 81.0, -47.0
2025-06-05T06:04:52.981Z,1749103492.981 [DAT](INFO): got valid direction response:
06:04:51.7575 LVL= 8624, 20465, 10178, 12915, AGC= 26, IDX= 501, 0.08, 1.108,-0.084,-0.646, 1.452, PHS=-0.256,-1.489,-2.101, RAW= 71.0, 39.9, CAL= 69.0, 47.0, ROT= 81.0, -47.0
2025-06-05T06:04:52.982Z,1749103492.982 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:52.983Z,1749103492.983 [DAT](INFO): direction in FSK: [0.106688,0.673602,0.731354]
2025-06-05T06:04:52.983Z,1749103492.983 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:52.995Z,1749103492.995 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:52.995Z,1749103492.995 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:53.003Z,1749103493.003 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-06-05T06:04:53.003Z,1749103493.003 [lineCaptureHoming:Lap:B] Stopped
2025-06-05T06:04:53.003Z,1749103493.003 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-06-05T06:04:53.003Z,1749103493.003 [lineCaptureHoming:Lap:C] Running Loop=1
2025-06-05T06:04:53.211Z,1749103493.211 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:53.212Z,1749103493.212 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:53.212Z,1749103493.212 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:53.363Z,1749103493.363 [lineCaptureHoming:Lap:C] Stopped
2025-06-05T06:04:53.363Z,1749103493.363 [lineCaptureHoming:Lap:D] Running Loop=1
2025-06-05T06:04:53.364Z,1749103493.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:53.464Z,1749103493.464 [DAT](INFO): DAT read: Rx Time:06:04:52.2574
2025-06-05T06:04:53.464Z,1749103493.464 [DAT](INFO): Rx dataTimestamp_ set to:1749103493.463948
2025-06-05T06:04:53.465Z,1749103493.465 [DAT](INFO): DAT read: Bearing 81.9, -42.2 (Local)
2025-06-05T06:04:53.466Z,1749103493.466 [DAT](INFO): Local bearing/azimuth received:
Bearing 81.9, -42.2 (Local)
2025-06-05T06:04:53.468Z,1749103493.468 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0
2025-06-05T06:04:53.472Z,1749103493.472 [DAT](INFO): DAT read: 06:04:52.2574 LVL= 8688, 21169, 8466, 10307, AGC= 27, IDX= 500, 0.13, 0.111,-1.237,-1.909, 0.227, PHS=-0.028,-1.417,-2.139, RAW= 70.4, 34.3, CAL= 68.1, 42.2, ROT= 81.9, -42.2
2025-06-05T06:04:53.473Z,1749103493.473 [DAT](INFO): got valid direction response:
06:04:52.2574 LVL= 8688, 21169, 8466, 10307, AGC= 27, IDX= 500, 0.13, 0.111,-1.237,-1.909, 0.227, PHS=-0.028,-1.417,-2.139, RAW= 70.4, 34.3, CAL= 68.1, 42.2, ROT= 81.9, -42.2
2025-06-05T06:04:53.474Z,1749103493.474 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:53.477Z,1749103493.477 [DAT](INFO): direction in FSK: [0.104380,0.733414,0.671721]
2025-06-05T06:04:53.478Z,1749103493.478 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:53.481Z,1749103493.481 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:53.481Z,1749103493.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:53.715Z,1749103493.715 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:53.715Z,1749103493.715 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:53.716Z,1749103493.716 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:53.871Z,1749103493.871 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count
2025-06-05T06:04:53.871Z,1749103493.871 [lineCaptureHoming:Lap:D] Stopped
2025-06-05T06:04:53.871Z,1749103493.871 [lineCaptureHoming:Lap:E] Running Loop=1
2025-06-05T06:04:53.872Z,1749103493.872 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-06-05T06:04:53.969Z,1749103493.969 [DAT](INFO): DAT read: Rx Time:06:04:52.7575
2025-06-05T06:04:53.971Z,1749103493.971 [DAT](INFO): Rx dataTimestamp_ set to:1749103493.969776
2025-06-05T06:04:53.973Z,1749103493.973 [DAT](INFO): DAT read: Bearing 82.0, -45.1 (Local)
2025-06-05T06:04:53.976Z,1749103493.976 [DAT](INFO): Local bearing/azimuth received:
Bearing 82.0, -45.1 (Local)
2025-06-05T06:04:53.980Z,1749103493.980 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:53.986Z,1749103493.986 [DAT](INFO): DAT read: 06:04:52.7575 LVL= 9504, 21969, 9298, 13939, AGC= 27, IDX= 501, 0.13, 1.649, 0.409,-0.217, 1.910, PHS=-0.173,-1.454,-2.130, RAW= 70.1, 37.7, CAL= 68.0, 45.1, ROT= 82.0, -45.1
2025-06-05T06:04:53.987Z,1749103493.987 [DAT](INFO): got valid direction response:
06:04:52.7575 LVL= 9504, 21969, 9298, 13939, AGC= 27, IDX= 501, 0.13, 1.649, 0.409,-0.217, 1.910, PHS=-0.173,-1.454,-2.130, RAW= 70.1, 37.7, CAL= 68.0, 45.1, ROT= 82.0, -45.1
2025-06-05T06:04:53.987Z,1749103493.987 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:53.988Z,1749103493.988 [DAT](INFO): direction in FSK: [0.098238,0.699002,0.708340]
2025-06-05T06:04:53.988Z,1749103493.988 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:53.995Z,1749103493.995 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:53.996Z,1749103493.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:54.157Z,1749103494.157 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-06-05T06:04:54.157Z,1749103494.157 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-06-05T06:04:54.157Z,1749103494.157 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-06-05T06:04:54.157Z,1749103494.157 [lineCaptureHoming:restartDHCP:A](IMPORTANT): Restarting DHCP...
2025-06-05T06:04:54.158Z,1749103494.158 [lineCaptureHoming:restartDHCP:A] Stopped
2025-06-05T06:04:54.158Z,1749103494.158 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-06-05T06:04:54.219Z,1749103494.219 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:54.219Z,1749103494.219 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:54.219Z,1749103494.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:54.295Z,1749103494.295 [DockingStepper](INFO): Commanding positive:20311
2025-06-05T06:04:54.472Z,1749103494.472 [DAT](INFO): DAT read: Rx Time:06:04:53.2575
2025-06-05T06:04:54.472Z,1749103494.472 [DAT](INFO): Rx dataTimestamp_ set to:1749103494.471850
2025-06-05T06:04:54.473Z,1749103494.473 [DAT](INFO): DAT read: Bearing 90.3, -46.4 (Local)
2025-06-05T06:04:54.474Z,1749103494.474 [DAT](INFO): Local bearing/azimuth received:
Bearing 90.3, -46.4 (Local)
2025-06-05T06:04:54.478Z,1749103494.478 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:54.483Z,1749103494.483 [DAT](INFO): DAT read: 06:04:53.2575 LVL= 8656, 19825, 7538, 8579, AGC= 26, IDX= 500, 0.13, 0.839,-0.103,-0.912, 1.231, PHS=-0.304,-1.287,-2.146, RAW= 62.2, 39.6, CAL= 59.7, 46.4, ROT= 90.3, -46.4
2025-06-05T06:04:54.485Z,1749103494.485 [DAT](INFO): got valid direction response:
06:04:53.2575 LVL= 8656, 19825, 7538, 8579, AGC= 26, IDX= 500, 0.13, 0.839,-0.103,-0.912, 1.231, PHS=-0.304,-1.287,-2.146, RAW= 62.2, 39.6, CAL= 59.7, 46.4, ROT= 90.3, -46.4
2025-06-05T06:04:54.485Z,1749103494.485 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:54.487Z,1749103494.487 [DAT](INFO): direction in FSK: [-0.003611,0.689610,0.724172]
2025-06-05T06:04:54.487Z,1749103494.487 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:54.525Z,1749103494.525 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:54.525Z,1749103494.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:54.618Z,1749103494.618 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-05T06:04:54.619Z,1749103494.619 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-06-05T06:04:54.619Z,1749103494.619 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-06-05T06:04:54.619Z,1749103494.619 [lineCaptureHoming:restartDHCP] Stopped
2025-06-05T06:04:54.619Z,1749103494.619 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-06-05T06:04:54.709Z,1749103494.709 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-05T06:04:54.755Z,1749103494.755 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:54.756Z,1749103494.756 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:54.756Z,1749103494.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:54.978Z,1749103494.978 [DAT](INFO): DAT read: Rx Time:06:04:53.7576
2025-06-05T06:04:54.980Z,1749103494.980 [DAT](INFO): Rx dataTimestamp_ set to:1749103494.978591
2025-06-05T06:04:54.983Z,1749103494.983 [DAT](INFO): DAT read: Bearing 99.7, -56.8 (Local)
2025-06-05T06:04:54.984Z,1749103494.984 [DAT](INFO): Local bearing/azimuth received:
Bearing 99.7, -56.8 (Local)
2025-06-05T06:04:54.990Z,1749103494.990 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0
2025-06-05T06:04:55.005Z,1749103495.005 [DAT](INFO): DAT read: 06:04:53.7576 LVL= 8848, 19377, 8146, 10611, AGC= 26, IDX= 501, 0.18, 2.063, 1.599, 0.847, 2.928, PHS=-0.777,-1.282,-2.084, RAW= 52.5, 52.1, CAL= 50.3, 56.8, ROT= 99.7, -56.8
2025-06-05T06:04:55.019Z,1749103495.019 [DAT](INFO): got valid direction response:
06:04:53.7576 LVL= 8848, 19377, 8146, 10611, AGC= 26, IDX= 501, 0.18, 2.063, 1.599, 0.847, 2.928, PHS=-0.777,-1.282,-2.084, RAW= 52.5, 52.1, CAL= 50.3, 56.8, ROT= 99.7, -56.8
2025-06-05T06:04:55.019Z,1749103495.019 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:55.020Z,1749103495.020 [DAT](INFO): direction in FSK: [-0.092259,0.539735,0.836764]
2025-06-05T06:04:55.021Z,1749103495.021 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:55.034Z,1749103495.034 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:55.050Z,1749103495.050 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:55.130Z,1749103495.130 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-06-05T06:04:55.130Z,1749103495.130 [lineCaptureHoming:Lap:E] Stopped
2025-06-05T06:04:55.143Z,1749103495.143 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-06-05T06:04:55.143Z,1749103495.143 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-06-05T06:04:55.143Z,1749103495.143 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-06-05T06:04:55.144Z,1749103495.144 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-06-05T06:04:55.230Z,1749103495.230 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:55.230Z,1749103495.230 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:55.230Z,1749103495.230 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:55.430Z,1749103495.430 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min
2025-06-05T06:04:55.430Z,1749103495.430 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-06-05T06:04:55.430Z,1749103495.430 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-06-05T06:04:55.431Z,1749103495.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:04:55.486Z,1749103495.486 [DAT](INFO): DAT read: Rx Time:06:04:54.2575
2025-06-05T06:04:55.487Z,1749103495.487 [DAT](INFO): Rx dataTimestamp_ set to:1749103495.486483
2025-06-05T06:04:55.489Z,1749103495.489 [DAT](INFO): DAT read: Bearing 105.7, -56.3 (Local)
2025-06-05T06:04:55.489Z,1749103495.489 [DAT](INFO): Local bearing/azimuth received:
Bearing 105.7, -56.3 (Local)
2025-06-05T06:04:55.495Z,1749103495.495 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0
2025-06-05T06:04:55.501Z,1749103495.501 [DAT](INFO): DAT read: 06:04:54.2575 LVL= 7776, 17137, 8002, 7907, AGC= 25, IDX= 500, 0.38,-1.487,-1.826,-2.673,-0.598, PHS=-0.801,-1.181,-2.078, RAW= 46.8, 51.7, CAL= 44.3, 56.3, ROT= 105.7, -56.3
2025-06-05T06:04:55.509Z,1749103495.509 [DAT](INFO): got valid direction response:
06:04:54.2575 LVL= 7776, 17137, 8002, 7907, AGC= 25, IDX= 500, 0.38,-1.487,-1.826,-2.673,-0.598, PHS=-0.801,-1.181,-2.078, RAW= 46.8, 51.7, CAL= 44.3, 56.3, ROT= 105.7, -56.3
2025-06-05T06:04:55.519Z,1749103495.519 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:04:55.521Z,1749103495.521 [DAT](INFO): direction in FSK: [-0.150141,0.534144,0.831954]
2025-06-05T06:04:55.521Z,1749103495.521 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:55.530Z,1749103495.530 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:55.546Z,1749103495.546 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:55.735Z,1749103495.735 [DAT](INFO): Reached modem response timeout
2025-06-05T06:04:55.735Z,1749103495.735 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:04:55.735Z,1749103495.735 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:04:55.771Z,1749103495.771 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-06-05T06:04:55.771Z,1749103495.771 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-06-05T06:04:55.989Z,1749103495.989 [DAT](INFO): DAT read: user:647>
2025-06-05T06:04:55.991Z,1749103495.991 [DAT](INFO): DAT read: Command 'l' not found
2025-06-05T06:04:55.991Z,1749103495.991 [DAT](INFO): unknown deviceResponse_: Command 'l' not found
2025-06-05T06:04:55.992Z,1749103495.992 [DAT](INFO): DAT read: Error
2025-06-05T06:04:55.993Z,1749103495.993 [DAT](INFO): unknown deviceResponse_: Error
2025-06-05T06:04:55.994Z,1749103495.994 [DAT](INFO): DAT read: user:648>
2025-06-05T06:04:55.996Z,1749103495.996 [DAT](INFO): DAT read: Tx time:06:04:55.1728
2025-06-05T06:04:55.996Z,1749103495.996 [DAT](INFO): Ping request sent.
2025-06-05T06:04:55.996Z,1749103495.996 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:04:55.997Z,1749103495.997 [DAT](INFO): publishing transmit ping time
2025-06-05T06:04:56.008Z,1749103496.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.011434
2025-06-05T06:04:56.199Z,1749103496.199 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-06-05T06:04:56.199Z,1749103496.199 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-06-05T06:04:56.199Z,1749103496.199 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-06-05T06:04:56.199Z,1749103496.199 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-06-05T06:04:56.240Z,1749103496.240 [DAT](INFO): DAT read: TxSync time:06:04:55.1720
2025-06-05T06:04:56.241Z,1749103496.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244713
2025-06-05T06:04:56.492Z,1749103496.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495498
2025-06-05T06:04:56.647Z,1749103496.647 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Found local IP address 10.89.10.2 for eth0
2025-06-05T06:04:56.647Z,1749103496.647 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): No IP address on dock subnet, restarting DHCP
2025-06-05T06:04:56.652Z,1749103496.652 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-05T06:04:56.745Z,1749103496.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748336
2025-06-05T06:04:56.827Z,1749103496.827 [DockingStepper](INFO): Commanding positive:20231
2025-06-05T06:04:56.858Z,1749103496.858 [DockingStepper](FAULT): Timed out moving from: 13164 to: 16450 response: ÿ
2025-06-05T06:04:56.858Z,1749103496.858 [DockingStepper] Hardware Fault, FailCount= 2
2025-06-05T06:04:56.859Z,1749103496.859 [DockingStepper](ERROR): Hardware Fault
2025-06-05T06:04:56.868Z,1749103496.868 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-06-05T06:04:56.995Z,1749103496.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998794
2025-06-05T06:04:57.096Z,1749103497.096 [DockingStepper](INFO): Stop
2025-06-05T06:04:57.096Z,1749103497.096 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-05T06:04:57.096Z,1749103497.096 [DockingStepper](INFO): Powering down
2025-06-05T06:04:57.247Z,1749103497.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250821
2025-06-05T06:04:57.411Z,1749103497.411 [DockingStepper](INFO): Stopping
2025-06-05T06:04:57.500Z,1749103497.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503128
2025-06-05T06:04:57.756Z,1749103497.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759833
2025-06-05T06:04:57.901Z,1749103497.901 [DockingStepper](INFO): Stopping
2025-06-05T06:04:58.007Z,1749103498.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010782
2025-06-05T06:04:58.240Z,1749103498.240 [DockingStepper](INFO): Stopping
2025-06-05T06:04:58.261Z,1749103498.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264062
2025-06-05T06:04:58.512Z,1749103498.512 [DAT](INFO): DAT read: Rx Time:06:04:57.3026
2025-06-05T06:04:58.513Z,1749103498.513 [DAT](INFO): Rx dataTimestamp_ set to:1749103498.512590
2025-06-05T06:04:58.515Z,1749103498.515 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:04:58.516Z,1749103498.516 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T06:04:58.517Z,1749103498.517 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T06:04:58.647Z,1749103498.647 [DockingStepper](INFO): Stopping
2025-06-05T06:04:58.763Z,1749103498.763 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T06:04:59.015Z,1749103499.015 [DAT](INFO): DAT read: Rx Time:06:04:57.8027
2025-06-05T06:04:59.016Z,1749103499.016 [DAT](INFO): Rx dataTimestamp_ set to:1749103499.015278
2025-06-05T06:04:59.017Z,1749103499.017 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:04:59.017Z,1749103499.017 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-06-05T06:04:59.018Z,1749103499.018 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T06:04:59.044Z,1749103499.044 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:04:59.085Z,1749103499.085 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3
2025-06-05T06:04:59.158Z,1749103499.158 [DockingStepper](INFO): Stopping
2025-06-05T06:04:59.431Z,1749103499.431 [DockingStepper](INFO): Stopping
2025-06-05T06:04:59.521Z,1749103499.521 [DAT](INFO): DAT read: Rx Time:06:04:58.3026
2025-06-05T06:04:59.521Z,1749103499.521 [DAT](INFO): Rx dataTimestamp_ set to:1749103499.520737
2025-06-05T06:04:59.522Z,1749103499.522 [DAT](INFO): DAT read: Bearing 296.4, -48.5 (Local)
2025-06-05T06:04:59.523Z,1749103499.523 [DAT](INFO): Local bearing/azimuth received:
Bearing 296.4, -48.5 (Local)
2025-06-05T06:04:59.525Z,1749103499.525 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:04:59.532Z,1749103499.532 [DAT](INFO): DAT read: 06:04:58.3026 LVL= 14176, 22161, 8850, 15603, AGC= 27, IDX= 500, 0.16,-1.386,-1.183, 0.261, 0.407, PHS=-1.705,-1.542,-0.149, RAW= 215.4, 39.0, CAL= 213.6, 48.5, ROT= 296.4, -48.5
2025-06-05T06:04:59.533Z,1749103499.533 [DAT](INFO): got valid direction response:
06:04:58.3026 LVL= 14176, 22161, 8850, 15603, AGC= 27, IDX= 500, 0.16,-1.386,-1.183, 0.261, 0.407, PHS=-1.705,-1.542,-0.149, RAW= 215.4, 39.0, CAL= 213.6, 48.5, ROT= 296.4, -48.5
2025-06-05T06:04:59.534Z,1749103499.534 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-05T06:04:59.535Z,1749103499.535 [DAT](INFO): direction in FSK: [0.294624,-0.593517,0.748956]
2025-06-05T06:04:59.535Z,1749103499.535 [DAT](INFO): publishing direction and range info
2025-06-05T06:04:59.819Z,1749103499.819 [DockingStepper](INFO): Stopping
2025-06-05T06:05:00.025Z,1749103500.025 [DAT](INFO): DAT read: Rx Time:06:04:58.8026
2025-06-05T06:05:00.025Z,1749103500.025 [DAT](INFO): Rx dataTimestamp_ set to:1749103500.025018
2025-06-05T06:05:00.028Z,1749103500.028 [DAT](INFO): DAT read: Bearing 305.0, -37.8 (Local)
2025-06-05T06:05:00.028Z,1749103500.028 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.0, -37.8 (Local)
2025-06-05T06:05:00.030Z,1749103500.030 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:00.035Z,1749103500.035 [DAT](INFO): DAT read: 06:04:58.8026 LVL= 14544, 23905, 8818, 16819, AGC= 27, IDX= 500,-0.00, 1.093, 1.030, 2.789, 2.538, PHS=-1.357,-1.461, 0.248, RAW= 206.9, 28.7, CAL= 205.0, 37.8, ROT= 305.0, -37.8
2025-06-05T06:05:00.036Z,1749103500.036 [DAT](INFO): got valid direction response:
06:04:58.8026 LVL= 14544, 23905, 8818, 16819, AGC= 27, IDX= 500,-0.00, 1.093, 1.030, 2.789, 2.538, PHS=-1.357,-1.461, 0.248, RAW= 206.9, 28.7, CAL= 205.0, 37.8, ROT= 305.0, -37.8
2025-06-05T06:05:00.036Z,1749103500.036 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-05T06:05:00.037Z,1749103500.037 [DAT](INFO): direction in FSK: [0.453214,-0.647257,0.612907]
2025-06-05T06:05:00.037Z,1749103500.037 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:00.046Z,1749103500.046 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:05:00.240Z,1749103500.240 [DockingStepper](INFO): Stopping
2025-06-05T06:05:00.529Z,1749103500.529 [DAT](INFO): DAT read: Rx Time:06:04:59.3025
2025-06-05T06:05:00.529Z,1749103500.529 [DAT](INFO): Rx dataTimestamp_ set to:1749103500.528815
2025-06-05T06:05:00.530Z,1749103500.530 [DAT](INFO): DAT read: Bearing 137.8, -51.9 (Local)
2025-06-05T06:05:00.531Z,1749103500.531 [DAT](INFO): Local bearing/azimuth received:
Bearing 137.8, -51.9 (Local)
2025-06-05T06:05:00.533Z,1749103500.533 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:00.537Z,1749103500.537 [DAT](INFO): DAT read: 06:04:59.3025 LVL= 12704, 23697, 11362, 13203, AGC= 28, IDX= 498, 0.37, 2.004, 2.374, 1.011,-3.069, PHS=-1.122,-0.792,-2.206, RAW= 17.1, 48.7, CAL= 12.2, 51.9, ROT= 137.8, -51.9
2025-06-05T06:05:00.538Z,1749103500.538 [DAT](INFO): got valid direction response:
06:04:59.3025 LVL= 12704, 23697, 11362, 13203, AGC= 28, IDX= 498, 0.37, 2.004, 2.374, 1.011,-3.069, PHS=-1.122,-0.792,-2.206, RAW= 17.1, 48.7, CAL= 12.2, 51.9, ROT= 137.8, -51.9
2025-06-05T06:05:00.539Z,1749103500.539 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-05T06:05:00.540Z,1749103500.540 [DAT](INFO): direction in FSK: [-0.457103,0.414476,0.786935]
2025-06-05T06:05:00.540Z,1749103500.540 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:00.699Z,1749103500.699 [DockingStepper](INFO): Stopping
2025-06-05T06:05:01.041Z,1749103501.041 [DAT](INFO): DAT read: Rx Time:06:04:59.8026
2025-06-05T06:05:01.041Z,1749103501.041 [DAT](INFO): Rx dataTimestamp_ set to:1749103501.041192
2025-06-05T06:05:01.044Z,1749103501.044 [DAT](INFO): DAT read: Bearing 329.7, -53.8 (Local)
2025-06-05T06:05:01.044Z,1749103501.044 [DAT](INFO): Local bearing/azimuth received:
Bearing 329.7, -53.8 (Local)
2025-06-05T06:05:01.046Z,1749103501.046 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:01.052Z,1749103501.052 [DAT](INFO): DAT read: 06:04:59.8026 LVL= 14784, 25585, 11330, 14403, AGC= 27, IDX= 502,-0.02, 0.225,-0.661, 1.102, 1.818, PHS=-1.504,-2.432,-0.718, RAW= 177.3, 47.9, CAL= 180.3, 53.8, ROT= 329.7, -53.8
2025-06-05T06:05:01.053Z,1749103501.053 [DAT](INFO): got valid direction response:
06:04:59.8026 LVL= 14784, 25585, 11330, 14403, AGC= 27, IDX= 502,-0.02, 0.225,-0.661, 1.102, 1.818, PHS=-1.504,-2.432,-0.718, RAW= 177.3, 47.9, CAL= 180.3, 53.8, ROT= 329.7, -53.8
2025-06-05T06:05:01.053Z,1749103501.053 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-05T06:05:01.054Z,1749103501.054 [DAT](INFO): direction in FSK: [0.509926,-0.297977,0.806960]
2025-06-05T06:05:01.054Z,1749103501.054 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:01.238Z,1749103501.238 [DockingStepper](INFO): Stopping
2025-06-05T06:05:01.437Z,1749103501.437 [DockingStepper](INFO): Stopping
2025-06-05T06:05:01.544Z,1749103501.544 [DAT](INFO): DAT read: Rx Time:06:05:00.3025
2025-06-05T06:05:01.545Z,1749103501.545 [DAT](INFO): Rx dataTimestamp_ set to:1749103501.544498
2025-06-05T06:05:01.546Z,1749103501.546 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:01.547Z,1749103501.547 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-06-05T06:05:01.829Z,1749103501.829 [DockingStepper](INFO): Stopping
2025-06-05T06:05:02.048Z,1749103502.048 [DAT](INFO): DAT read: Rx Time:06:05:00.8026
2025-06-05T06:05:02.048Z,1749103502.048 [DAT](INFO): Rx dataTimestamp_ set to:1749103502.047877
2025-06-05T06:05:02.049Z,1749103502.049 [DAT](INFO): DAT read: Bearing 141.4, -53.4 (Local)
2025-06-05T06:05:02.050Z,1749103502.050 [DAT](INFO): Local bearing/azimuth received:
Bearing 141.4, -53.4 (Local)
2025-06-05T06:05:02.053Z,1749103502.053 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:02.062Z,1749103502.062 [DAT](INFO): DAT read: 06:05:00.8026 LVL= 14800, 25137, 11442, 13987, AGC= 27, IDX= 499, 0.39,-2.049,-1.666,-2.789,-0.922, PHS=-1.039,-0.697,-1.870, RAW= 13.5, 50.7, CAL= 8.6, 53.4, ROT= 141.4, -53.4
2025-06-05T06:05:02.063Z,1749103502.063 [DAT](INFO): got valid direction response:
06:05:00.8026 LVL= 14800, 25137, 11442, 13987, AGC= 27, IDX= 499, 0.39,-2.049,-1.666,-2.789,-0.922, PHS=-1.039,-0.697,-1.870, RAW= 13.5, 50.7, CAL= 8.6, 53.4, ROT= 141.4, -53.4
2025-06-05T06:05:02.063Z,1749103502.063 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-05T06:05:02.064Z,1749103502.064 [DAT](INFO): direction in FSK: [-0.465962,0.371973,0.802817]
2025-06-05T06:05:02.064Z,1749103502.064 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:02.301Z,1749103502.301 [DockingStepper](INFO): Stopping
2025-06-05T06:05:02.552Z,1749103502.552 [DAT](INFO): DAT read: Rx Time:06:05:01.3026
2025-06-05T06:05:02.552Z,1749103502.552 [DAT](INFO): Rx dataTimestamp_ set to:1749103502.552143
2025-06-05T06:05:02.554Z,1749103502.554 [DAT](INFO): DAT read: Bearing 128.2, -52.9 (Local)
2025-06-05T06:05:02.554Z,1749103502.554 [DAT](INFO): Local bearing/azimuth received:
Bearing 128.2, -52.9 (Local)
2025-06-05T06:05:02.556Z,1749103502.556 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:02.563Z,1749103502.563 [DAT](INFO): DAT read: 06:05:01.3026 LVL= 12576, 24273, 11602, 12643, AGC= 28, IDX= 499,-0.28,-0.536,-0.387,-1.716, 0.598, PHS=-1.045,-0.938,-2.317, RAW= 26.0, 48.9, CAL= 21.8, 52.9, ROT= 128.2, -52.9
2025-06-05T06:05:02.564Z,1749103502.564 [DAT](INFO): got valid direction response:
06:05:01.3026 LVL= 12576, 24273, 11602, 12643, AGC= 28, IDX= 499,-0.28,-0.536,-0.387,-1.716, 0.598, PHS=-1.045,-0.938,-2.317, RAW= 26.0, 48.9, CAL= 21.8, 52.9, ROT= 128.2, -52.9
2025-06-05T06:05:02.564Z,1749103502.564 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-05T06:05:02.565Z,1749103502.565 [DAT](INFO): direction in FSK: [-0.373029,0.474035,0.797584]
2025-06-05T06:05:02.566Z,1749103502.566 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:02.704Z,1749103502.704 [DockingStepper](INFO): Stopping
2025-06-05T06:05:03.042Z,1749103503.042 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060422061938,354, 0.0,1491.6, 0
2025-06-05T06:05:03.056Z,1749103503.056 [DAT](INFO): DAT read: Rx Time:06:05:01.8027
2025-06-05T06:05:03.057Z,1749103503.057 [DAT](INFO): Rx dataTimestamp_ set to:1749103503.056311
2025-06-05T06:05:03.059Z,1749103503.059 [DAT](INFO): DAT read: Bearing 130.3, -65.1 (Local)
2025-06-05T06:05:03.059Z,1749103503.059 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.3, -65.1 (Local)
2025-06-05T06:05:03.061Z,1749103503.061 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:03.065Z,1749103503.065 [DAT](INFO): DAT read: 06:05:01.8027 LVL= 14224, 28497, 10146, 15475, AGC= 29, IDX= 500, 0.09,-2.375,-2.216,-3.015,-1.046, PHS=-1.241,-1.123,-1.972, RAW= 22.6, 62.5, CAL= 19.7, 65.1, ROT= 130.3, -65.1
2025-06-05T06:05:03.067Z,1749103503.067 [DAT](INFO): got valid direction response:
06:05:01.8027 LVL= 14224, 28497, 10146, 15475, AGC= 29, IDX= 500, 0.09,-2.375,-2.216,-3.015,-1.046, PHS=-1.241,-1.123,-1.972, RAW= 22.6, 62.5, CAL= 19.7, 65.1, ROT= 130.3, -65.1
2025-06-05T06:05:03.067Z,1749103503.067 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-05T06:05:03.069Z,1749103503.069 [DAT](INFO): direction in FSK: [-0.272322,0.321111,0.907044]
2025-06-05T06:05:03.069Z,1749103503.069 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:03.145Z,1749103503.145 [DockingStepper](INFO): Stopping
2025-06-05T06:05:03.455Z,1749103503.455 [DockingStepper](INFO): Stopping
2025-06-05T06:05:03.561Z,1749103503.561 [DAT](INFO): DAT read: Rx Time:06:05:02.3026
2025-06-05T06:05:03.561Z,1749103503.561 [DAT](INFO): Rx dataTimestamp_ set to:1749103503.561113
2025-06-05T06:05:03.563Z,1749103503.563 [DAT](INFO): DAT read: Bearing 293.9, -52.0 (Local)
2025-06-05T06:05:03.563Z,1749103503.563 [DAT](INFO): Local bearing/azimuth received:
Bearing 293.9, -52.0 (Local)
2025-06-05T06:05:03.565Z,1749103503.565 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:03.570Z,1749103503.570 [DAT](INFO): DAT read: 06:05:02.3026 LVL= 16624, 28033, 11058, 19187, AGC= 29, IDX= 500,-0.34, 2.252, 2.475,-2.609,-2.341, PHS=-1.602,-1.420,-0.270, RAW= 217.2, 42.9, CAL= 216.1, 52.0, ROT= 293.9, -52.0
2025-06-05T06:05:03.571Z,1749103503.571 [DAT](INFO): got valid direction response:
06:05:02.3026 LVL= 16624, 28033, 11058, 19187, AGC= 29, IDX= 500,-0.34, 2.252, 2.475,-2.609,-2.341, PHS=-1.602,-1.420,-0.270, RAW= 217.2, 42.9, CAL= 216.1, 52.0, ROT= 293.9, -52.0
2025-06-05T06:05:03.571Z,1749103503.571 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-05T06:05:03.572Z,1749103503.572 [DAT](INFO): direction in FSK: [0.249430,-0.562871,0.788011]
2025-06-05T06:05:03.572Z,1749103503.572 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:03.984Z,1749103503.984 [DockingStepper](INFO): Stopping
2025-06-05T06:05:04.067Z,1749103504.067 [DAT](INFO): DAT read: Rx Time:06:05:02.8026
2025-06-05T06:05:04.068Z,1749103504.068 [DAT](INFO): Rx dataTimestamp_ set to:1749103504.067348
2025-06-05T06:05:04.072Z,1749103504.072 [DAT](INFO): DAT read: Bearing 271.6, -51.5 (Local)
2025-06-05T06:05:04.072Z,1749103504.072 [DAT](INFO): Local bearing/azimuth received:
Bearing 271.6, -51.5 (Local)
2025-06-05T06:05:04.074Z,1749103504.074 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:04.078Z,1749103504.078 [DAT](INFO): DAT read: 06:05:02.8026 LVL= 16976, 28337, 11410, 15779, AGC= 31, IDX= 500, 0.11,-2.065,-1.365 0.319, PHS=-2.296,-1.637,-0.447, RAW= 230.6, 43.7, CAL= 238.4, 51.5, ROT= 51.5
2025-06-05T06:05:04.079Z,1749103504.079 [DAT](INFO): unknown deviceResponse_: 06:05:02.8026 LVL= 16976, 28337, 11410, 15779, AGC= 31, IDX= 500, 0.11,-2.065,-1.365 0.319, PHS=-2.296,-1.637,-0.447, RAW= 230.6, 43.7, CAL= 238.4, 51.5, ROT= 51.5
2025-06-05T06:05:04.080Z,1749103504.080 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-06-05T06:05:04.233Z,1749103504.233 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 77.08, 67.23, 68.25,
2025-06-05T06:05:04.282Z,1749103504.282 [DockingStepper](INFO): Stopping
2025-06-05T06:05:04.567Z,1749103504.567 [DAT](INFO): DAT read: Rx Time:06:05:03.3025
2025-06-05T06:05:04.568Z,1749103504.568 [DAT](INFO): Rx dataTimestamp_ set to:1749103504.567682
2025-06-05T06:05:04.569Z,1749103504.569 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:04.570Z,1749103504.570 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-06-05T06:05:04.681Z,1749103504.681 [DockingStepper](INFO): Stopping
2025-06-05T06:05:05.072Z,1749103505.072 [DAT](INFO): DAT read: Rx Time:06:05:03.8026
2025-06-05T06:05:05.072Z,1749103505.072 [DAT](INFO): Rx dataTimestamp_ set to:1749103505.071833
2025-06-05T06:05:05.073Z,1749103505.073 [DAT](INFO): DAT read: Bearing 110.6, -53.3 (Local)
2025-06-05T06:05:05.074Z,1749103505.074 [DAT](INFO): Local bearing/azimuth received:
Bearing 110.6, -53.3 (Local)
2025-06-05T06:05:05.076Z,1749103505.076 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:05.086Z,1749103505.086 [DAT](INFO): DAT read: 06:05:03.8026 LVL= 9008, 5217, 12562, 9779, AGC= 29, IDX= 2,-0.09, 2.435, 2.202, 1.311,-3.083, PHS=-0.677,-0.951,-1.891, RAW= 42.4, 48.4, CAL= 39.4, 53.3, ROT= 110.6, -53.3
2025-06-05T06:05:05.087Z,1749103505.087 [DAT](INFO): got valid direction response:
06:05:03.8026 LVL= 9008, 5217, 12562, 9779, AGC= 29, IDX= 2,-0.09, 2.435, 2.202, 1.311,-3.083, PHS=-0.677,-0.951,-1.891, RAW= 42.4, 48.4, CAL= 39.4, 53.3, ROT= 110.6, -53.3
2025-06-05T06:05:05.088Z,1749103505.088 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-05T06:05:05.089Z,1749103505.089 [DAT](INFO): direction in FSK: [-0.210269,0.559413,0.801776]
2025-06-05T06:05:05.089Z,1749103505.089 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:05.317Z,1749103505.317 [DockingStepper](INFO): Stopping
2025-06-05T06:05:05.521Z,1749103505.521 [DockingStepper](INFO): Stopping
2025-06-05T06:05:05.577Z,1749103505.577 [DAT](INFO): DAT read: Rx Time:06:05:04.3026
2025-06-05T06:05:05.578Z,1749103505.578 [DAT](INFO): Rx dataTimestamp_ set to:1749103505.577304
2025-06-05T06:05:05.579Z,1749103505.579 [DAT](INFO): DAT read: Bearing 106.3, -56.2 (Local)
2025-06-05T06:05:05.579Z,1749103505.579 [DAT](INFO): Local bearing/azimuth received:
Bearing 106.3, -56.2 (Local)
2025-06-05T06:05:05.581Z,1749103505.581 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:05.586Z,1749103505.586 [DAT](INFO): DAT read: 06:05:04.3026 LVL= 10160, 14257, 10274, 9971, AGC= 25, IDX= 497,-0.02, 1.078, 0.772,-0.032, 1.922, PHS=-0.756,-1.103,-1.957, RAW= 46.3, 51.6, CAL= 43.7, 56.2, ROT= 106.3, -56.2
2025-06-05T06:05:05.590Z,1749103505.590 [DAT](INFO): got valid direction response:
06:05:04.3026 LVL= 10160, 14257, 10274, 9971, AGC= 25, IDX= 497,-0.02, 1.078, 0.772,-0.032, 1.922, PHS=-0.756,-1.103,-1.957, RAW= 46.3, 51.6, CAL= 43.7, 56.2, ROT= 106.3, -56.2
2025-06-05T06:05:05.591Z,1749103505.591 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-05T06:05:05.592Z,1749103505.592 [DAT](INFO): direction in FSK: [-0.156134,0.533935,0.830984]
2025-06-05T06:05:05.593Z,1749103505.593 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:06.017Z,1749103506.017 [DockingStepper](INFO): Stopping
2025-06-05T06:05:06.080Z,1749103506.080 [DAT](INFO): DAT read: Rx Time:06:05:04.8027
2025-06-05T06:05:06.080Z,1749103506.080 [DAT](INFO): Rx dataTimestamp_ set to:1749103506.079892
2025-06-05T06:05:06.081Z,1749103506.081 [DAT](INFO): DAT read: Bearing 104.8, -54.1 (Local)
2025-06-05T06:05:06.082Z,1749103506.082 [DAT](INFO): Local bearing/azimuth received:
Bearing 104.8, -54.1 (Local)
2025-06-05T06:05:06.084Z,1749103506.084 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:06.089Z,1749103506.089 [DAT](INFO): DAT read: 06:05:04.8027 LVL= 8576, 14577, 9282, 9779, AGC= 25, IDX= 498,-0.02, 2.988, 2.622, 1.780,-2.523, PHS=-0.684,-1.091,-1.983, RAW= 47.8, 49.1, CAL= 45.2, 54.1, ROT= 104.8, -54.1
2025-06-05T06:05:06.090Z,1749103506.090 [DAT](INFO): got valid direction response:
06:05:04.8027 LVL= 8576, 14577, 9282, 9779, AGC= 25, IDX= 498,-0.02, 2.988, 2.622, 1.780,-2.523, PHS=-0.684,-1.091,-1.983, RAW= 47.8, 49.1, CAL= 45.2, 54.1, ROT= 104.8, -54.1
2025-06-05T06:05:06.091Z,1749103506.091 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-05T06:05:06.092Z,1749103506.092 [DAT](INFO): direction in FSK: [-0.149786,0.566919,0.810042]
2025-06-05T06:05:06.092Z,1749103506.092 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:06.333Z,1749103506.333 [DockingStepper](INFO): Stopping
2025-06-05T06:05:06.584Z,1749103506.584 [DAT](INFO): DAT read: Rx Time:06:05:05.3026
2025-06-05T06:05:06.585Z,1749103506.585 [DAT](INFO): Rx dataTimestamp_ set to:1749103506.584803
2025-06-05T06:05:06.589Z,1749103506.589 [DAT](INFO): DAT read: Bearing 99.2, -53.0 (Local)
2025-06-05T06:05:06.589Z,1749103506.589 [DAT](INFO): Local bearing/azimuth received:
Bearing 99.2, -53.0 (Local)
2025-06-05T06:05:06.594Z,1749103506.594 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:06.602Z,1749103506.602 [DAT](INFO): DAT read: 06:05:05.3026 LVL= 6736, 16593, 7922, 8947, AGC= 25, IDX= 497,-0.09,-2.905, 2.854, 2.048,-2.199, PHS=-0.618,-1.183,-2.039, RAW= 53.3, 47.6, CAL= 50.8, 53.0, ROT= 99.2, -53.0
2025-06-05T06:05:06.604Z,1749103506.604 [DAT](INFO): got valid direction response:
06:05:05.3026 LVL= 6736, 16593, 7922, 8947, AGC= 25, IDX= 497,-0.09,-2.905, 2.854, 2.048,-2.199, PHS=-0.618,-1.183,-2.039, RAW= 53.3, 47.6, CAL= 50.8, 53.0, ROT= 99.2, -53.0
2025-06-05T06:05:06.604Z,1749103506.604 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-05T06:05:06.627Z,1749103506.627 [DAT](INFO): direction in FSK: [-0.096219,0.594073,0.798636]
2025-06-05T06:05:06.628Z,1749103506.628 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:06.740Z,1749103506.740 [DockingStepper](INFO): Stopping
2025-06-05T06:05:07.088Z,1749103507.088 [DAT](INFO): DAT read: Rx Time:06:05:05.8027
2025-06-05T06:05:07.088Z,1749103507.088 [DAT](INFO): Rx dataTimestamp_ set to:1749103507.088011
2025-06-05T06:05:07.090Z,1749103507.090 [DAT](INFO): DAT read: Bearing 93.5, -50.4 (Local)
2025-06-05T06:05:07.091Z,1749103507.091 [DAT](INFO): Local bearing/azimuth received:
Bearing 93.5, -50.4 (Local)
2025-06-05T06:05:07.093Z,1749103507.093 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:07.098Z,1749103507.098 [DAT](INFO): DAT read: 06:05:05.8027 LVL= 7824, 18385, 8690, 9139, AGC= 26, IDX= 498,-0.13,-0.137,-0.870,-1.648, 0.437, PHS=-0.486,-1.260,-2.087, RAW= 58.9, 44.3, CAL= 56.5, 50.4, ROT= 93.5, -50.4
2025-06-05T06:05:07.103Z,1749103507.103 [DAT](INFO): got valid direction response:
06:05:05.8027 LVL= 7824, 18385, 8690, 9139, AGC= 26, IDX= 498,-0.13,-0.137,-0.870,-1.648, 0.437, PHS=-0.486,-1.260,-2.087, RAW= 58.9, 44.3, CAL= 56.5, 50.4, ROT= 93.5, -50.4
2025-06-05T06:05:07.103Z,1749103507.103 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-05T06:05:07.104Z,1749103507.104 [DAT](INFO): direction in FSK: [-0.038914,0.636235,0.770513]
2025-06-05T06:05:07.104Z,1749103507.104 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:07.247Z,1749103507.247 [DockingStepper](INFO): Stopping
2025-06-05T06:05:07.529Z,1749103507.529 [DockingStepper](INFO): Stopping
2025-06-05T06:05:07.593Z,1749103507.593 [DAT](INFO): DAT read: Rx Time:06:05:06.3026
2025-06-05T06:05:07.594Z,1749103507.594 [DAT](INFO): Rx dataTimestamp_ set to:1749103507.593375
2025-06-05T06:05:07.595Z,1749103507.595 [DAT](INFO): DAT read: Bearing 85.0, -48.2 (Local)
2025-06-05T06:05:07.595Z,1749103507.595 [DAT](INFO): Local bearing/azimuth received:
Bearing 85.0, -48.2 (Local)
2025-06-05T06:05:07.597Z,1749103507.597 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:07.602Z,1749103507.602 [DAT](INFO): DAT read: 06:05:06.3026 LVL= 7088, 19569, 7538, 9779, AGC= 25, IDX= 497,-0.12,-1.086,-2.116,-2.756,-0.661, PHS=-0.336,-1.407,-2.098, RAW= 67.1, 41.5, CAL= 65.0, 48.2, ROT= 85.0, -48.2
2025-06-05T06:05:07.603Z,1749103507.603 [DAT](INFO): got valid direction response:
06:05:06.3026 LVL= 7088, 19569, 7538, 9779, AGC= 25, IDX= 497,-0.12,-1.086,-2.116,-2.756,-0.661, PHS=-0.336,-1.407,-2.098, RAW= 67.1, 41.5, CAL= 65.0, 48.2, ROT= 85.0, -48.2
2025-06-05T06:05:07.604Z,1749103507.604 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-05T06:05:07.605Z,1749103507.605 [DAT](INFO): direction in FSK: [0.058092,0.663996,0.745476]
2025-06-05T06:05:07.605Z,1749103507.605 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:07.981Z,1749103507.981 [DockingStepper](INFO): Stopping
2025-06-05T06:05:08.098Z,1749103508.098 [DAT](INFO): DAT read: Rx Time:06:05:06.8026
2025-06-05T06:05:08.098Z,1749103508.098 [DAT](INFO): Rx dataTimestamp_ set to:1749103508.098146
2025-06-05T06:05:08.100Z,1749103508.100 [DAT](INFO): DAT read: Bearing 84.9, -48.4 (Local)
2025-06-05T06:05:08.100Z,1749103508.100 [DAT](INFO): Local bearing/azimuth received:
Bearing 84.9, -48.4 (Local)
2025-06-05T06:05:08.102Z,1749103508.102 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:08.107Z,1749103508.107 [DAT](INFO): DAT read: 06:05:06.8026 LVL= 8096, 20113, 8626, 12003, AGC= 26, IDX= 497,-0.10,-0.523,-1.558,-2.198,-0.092, PHS=-0.343,-1.419,-2.109, RAW= 67.2, 41.6, CAL= 65.1, 48.4, ROT= 84.9, -48.4
2025-06-05T06:05:08.108Z,1749103508.108 [DAT](INFO): got valid direction response:
06:05:06.8026 LVL= 8096, 20113, 8626, 12003, AGC= 26, IDX= 497,-0.10,-0.523,-1.558,-2.198,-0.092, PHS=-0.343,-1.419,-2.109, RAW= 67.2, 41.6, CAL= 65.1, 48.4, ROT= 84.9, -48.4
2025-06-05T06:05:08.108Z,1749103508.108 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-05T06:05:08.109Z,1749103508.109 [DAT](INFO): direction in FSK: [0.059019,0.661298,0.747798]
2025-06-05T06:05:08.109Z,1749103508.109 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:08.350Z,1749103508.350 [DAT](INFO): DAT read: Rx Time:06:05:07.3026
2025-06-05T06:05:08.352Z,1749103508.352 [DAT](INFO): Rx dataTimestamp_ set to:1749103508.350685
2025-06-05T06:05:08.354Z,1749103508.354 [DAT](INFO): DAT read: Bearing 93.5, -48.8 (Local)
2025-06-05T06:05:08.355Z,1749103508.355 [DAT](INFO): Local bearing/azimuth received:
Bearing 93.5, -48.8 (Local)
2025-06-05T06:05:08.396Z,1749103508.396 [DockingStepper](INFO): Stopping
2025-06-05T06:05:08.601Z,1749103508.601 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:08.605Z,1749103508.605 [DAT](INFO): DAT read: 06:05:07.3026 LVL= 8384, 18753, 8098, 8179, AGC= 26, IDX= 496,-0.03,-1.791,-2.567, 2.901,-1.275, PHS=-0.428,-1.244,-2.110, RAW= 59.0, 42.5, CAL= 56.5, 48.8, ROT= 93.5, -48.8
2025-06-05T06:05:08.606Z,1749103508.606 [DAT](INFO): got valid direction response:
06:05:07.3026 LVL= 8384, 18753, 8098, 8179, AGC= 26, IDX= 496,-0.03,-1.791,-2.567, 2.901,-1.275, PHS=-0.428,-1.244,-2.110, RAW= 59.0, 42.5, CAL= 56.5, 48.8, ROT= 93.5, -48.8
2025-06-05T06:05:08.607Z,1749103508.607 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-05T06:05:08.608Z,1749103508.608 [DAT](INFO): direction in FSK: [-0.040212,0.657461,0.752415]
2025-06-05T06:05:08.608Z,1749103508.608 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:08.744Z,1749103508.744 [DockingStepper](INFO): Stopping
2025-06-05T06:05:08.855Z,1749103508.855 [DAT](INFO): DAT read: Rx Time:06:05:07.8027
2025-06-05T06:05:08.856Z,1749103508.856 [DAT](INFO): Rx dataTimestamp_ set to:1749103508.855634
2025-06-05T06:05:08.860Z,1749103508.860 [DAT](INFO): DAT read: Bearing 102.4, -58.8 (Local)
2025-06-05T06:05:08.862Z,1749103508.862 [DAT](INFO): Local bearing/azimuth received:
Bearing 102.4, -58.8 (Local)
2025-06-05T06:05:08.867Z,1749103508.867 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:08.869Z,1749103508.869 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-06-05T06:05:09.031Z,1749103509.031 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T06:05:09.109Z,1749103509.109 [DAT](INFO): DAT read: 06:05:07.8027 LVL= 7408, 15169, 7666, 7699, AGC= 28, IDX= 1, 0.06,-0.555,-0.928,-1.664, 0.384, PHS=-0.851,-1.265,-2.051, RAW= 49.9, 54.4, CAL= 47.6, 58.8, ROT= 102.4, -58.8
2025-06-05T06:05:09.112Z,1749103509.112 [DAT](INFO): got valid direction response:
06:05:07.8027 LVL= 7408, 15169, 7666, 7699, AGC= 28, IDX= 1, 0.06,-0.555,-0.928,-1.664, 0.384, PHS=-0.851,-1.265,-2.051, RAW= 49.9, 54.4, CAL= 47.6, 58.8, ROT= 102.4, -58.8
2025-06-05T06:05:09.112Z,1749103509.112 [DAT](INFO): #Rx 23: Read direction message, but no range.
2025-06-05T06:05:09.116Z,1749103509.116 [DAT](INFO): direction in FSK: [-0.111239,0.505943,0.855364]
2025-06-05T06:05:09.251Z,1749103509.251 [DockingStepper](INFO): Stopping
2025-06-05T06:05:09.358Z,1749103509.358 [DAT](INFO): DAT read: Rx Time:06:05:08.3026
2025-06-05T06:05:09.360Z,1749103509.360 [DAT](INFO): Rx dataTimestamp_ set to:1749103509.358673
2025-06-05T06:05:09.363Z,1749103509.363 [DAT](INFO): DAT read: Bearing 108.5, -57.1 (Local)
2025-06-05T06:05:09.364Z,1749103509.364 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.5, -57.1 (Local)
2025-06-05T06:05:09.368Z,1749103509.368 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:09.371Z,1749103509.371 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-06-05T06:05:09.516Z,1749103509.516 [DockingStepper](INFO): Stopping
2025-06-05T06:05:09.612Z,1749103509.612 [DAT](INFO): DAT read: 06:05:08.3026 LVL= 8800, 16305, 9490, 9427, AGC= 25, IDX= 496, 0.28, 2.227, 1.965, 1.123,-3.137, PHS=-0.832,-1.134,-2.027, RAW= 44.1, 52.7, CAL= 41.5, 57.1, ROT= 108.5, -57.1
2025-06-05T06:05:09.613Z,1749103509.613 [DAT](INFO): got valid direction response:
06:05:08.3026 LVL= 8800, 16305, 9490, 9427, AGC= 25, IDX= 496, 0.28, 2.227, 1.965, 1.123,-3.137, PHS=-0.832,-1.134,-2.027, RAW= 44.1, 52.7, CAL= 41.5, 57.1, ROT= 108.5, -57.1
2025-06-05T06:05:09.613Z,1749103509.613 [DAT](INFO): #Rx 25: Read direction message, but no range.
2025-06-05T06:05:09.615Z,1749103509.615 [DAT](INFO): direction in FSK: [-0.172352,0.515105,0.839620]
2025-06-05T06:05:09.873Z,1749103509.873 [DAT](INFO): DAT read: Rx Time:06:05:08.8027
2025-06-05T06:05:09.874Z,1749103509.874 [DAT](INFO): Rx dataTimestamp_ set to:1749103509.873413
2025-06-05T06:05:09.878Z,1749103509.878 [DAT](INFO): DAT read: Bearing 108.8, -52.9 (Local)
2025-06-05T06:05:09.919Z,1749103509.919 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.8, -52.9 (Local)
2025-06-05T06:05:09.921Z,1749103509.921 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:09.926Z,1749103509.926 [DAT](INFO): DAT read: 06:05:08.8027 LVL= 8176, 9585, 10210, 9443, AGC= 28, IDX= 2,-0.44,-0.074,-0.369,-1.303, 0.704, PHS=-0.690,-1.026,-2.010, RAW= 44.1, 48.0, CAL= 41.2, 52.9, ROT= 108.8, -52.9
2025-06-05T06:05:09.944Z,1749103509.944 [DAT](INFO): got valid direction response:
06:05:08.8027 LVL= 8176, 9585, 10210, 9443, AGC= 28, IDX= 2,-0.44,-0.074,-0.369,-1.303, 0.704, PHS=-0.690,-1.026,-2.010, RAW= 44.1, 48.0, CAL= 41.2, 52.9, ROT= 108.8, -52.9
2025-06-05T06:05:09.944Z,1749103509.944 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-05T06:05:09.945Z,1749103509.945 [DAT](INFO): direction in FSK: [-0.194393,0.571026,0.797584]
2025-06-05T06:05:09.946Z,1749103509.946 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:10.261Z,1749103510.261 [DockingStepper](INFO): Stopping
2025-06-05T06:05:10.366Z,1749103510.366 [DAT](INFO): DAT read: Rx Time:06:05:09.3026
2025-06-05T06:05:10.368Z,1749103510.368 [DAT](INFO): Rx dataTimestamp_ set to:1749103510.367013
2025-06-05T06:05:10.371Z,1749103510.371 [DAT](INFO): DAT read: Bearing 110.7, -49.6 (Local)
2025-06-05T06:05:10.372Z,1749103510.372 [DAT](INFO): Local bearing/azimuth received:
Bearing 110.7, -49.6 (Local)
2025-06-05T06:05:10.377Z,1749103510.377 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:10.385Z,1749103510.385 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-06-05T06:05:10.427Z,1749103510.427 [DockingStepper](INFO): Stopping
2025-06-05T06:05:10.619Z,1749103510.619 [DAT](INFO): DAT read: 06:05:09.3026 LVL= 11488, 11601, 13650, 10931, AGC= 26, IDX= 497,-0.34,-1.360,-1.637,-2.652,-0.684, PHS=-0.588,-0.906,-1.971, RAW= 42.7, 44.3, CAL= 39.3, 49.6, ROT= 110.7, -49.6
2025-06-05T06:05:10.620Z,1749103510.620 [DAT](INFO): got valid direction response:
06:05:09.3026 LVL= 11488, 11601, 13650, 10931, AGC= 26, IDX= 497,-0.34,-1.360,-1.637,-2.652,-0.684, PHS=-0.588,-0.906,-1.971, RAW= 42.7, 44.3, CAL= 39.3, 49.6, ROT= 110.7, -49.6
2025-06-05T06:05:10.620Z,1749103510.620 [DAT](INFO): #Rx 28: Read direction message, but no range.
2025-06-05T06:05:10.621Z,1749103510.621 [DAT](INFO): direction in FSK: [-0.229094,0.606280,0.761538]
2025-06-05T06:05:10.749Z,1749103510.749 [DockingStepper](INFO): Stopping
2025-06-05T06:05:10.872Z,1749103510.872 [DAT](INFO): DAT read: Rx Time:06:05:09.8027
2025-06-05T06:05:10.873Z,1749103510.873 [DAT](INFO): Rx dataTimestamp_ set to:1749103510.872453
2025-06-05T06:05:10.879Z,1749103510.879 [DAT](INFO): DAT read: Bearing 110.9, -52.8 (Local)
2025-06-05T06:05:10.880Z,1749103510.880 [DAT](INFO): Local bearing/azimuth received:
Bearing 110.9, -52.8 (Local)
2025-06-05T06:05:10.899Z,1749103510.899 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:10.903Z,1749103510.903 [DAT](INFO): DAT read: 06:05:09.8027 LVL= 8992, 6593, 11538, 8979, AGC= 28, IDX= 2,-0.42, 1.164, 0.921,-0.021, 1.944, PHS=-0.692,-0.975,-1.968, RAW= 42.2, 47.9, CAL= 39.1, 52.8, ROT= 110.9, -52.8
2025-06-05T06:05:10.904Z,1749103510.904 [DAT](INFO): got valid direction response:
06:05:09.8027 LVL= 8992, 6593, 11538, 8979, AGC= 28, IDX= 2,-0.42, 1.164, 0.921,-0.021, 1.944, PHS=-0.692,-0.975,-1.968, RAW= 42.2, 47.9, CAL= 39.1, 52.8, ROT= 110.9, -52.8
2025-06-05T06:05:10.904Z,1749103510.904 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-05T06:05:10.905Z,1749103510.905 [DAT](INFO): direction in FSK: [-0.215683,0.564819,0.796530]
2025-06-05T06:05:10.906Z,1749103510.906 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:11.211Z,1749103511.211 [DockingStepper](INFO): Stopping
2025-06-05T06:05:11.375Z,1749103511.375 [DAT](INFO): DAT read: Rx Time:06:05:10.3026
2025-06-05T06:05:11.377Z,1749103511.377 [DAT](INFO): Rx dataTimestamp_ set to:1749103511.376181
2025-06-05T06:05:11.381Z,1749103511.381 [DAT](INFO): DAT read: Bearing 113.1, -52.7 (Local)
2025-06-05T06:05:11.382Z,1749103511.382 [DAT](INFO): Local bearing/azimuth received:
Bearing 113.1, -52.7 (Local)
2025-06-05T06:05:11.389Z,1749103511.389 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:11.392Z,1749103511.392 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-06-05T06:05:11.549Z,1749103511.549 [DockingStepper](INFO): Stopping
2025-06-05T06:05:11.628Z,1749103511.628 [DAT](INFO): DAT read: 06:05:10.3026 LVL= 12720, 7313, 15938, 12659, AGC= 27, IDX= 497,-0.50, 1.343, 1.157, 0.217, 2.119, PHS=-0.688,-0.915,-1.905, RAW= 40.1, 47.9, CAL= 36.9, 52.7, ROT= 113.1, -52.7
2025-06-05T06:05:11.629Z,1749103511.629 [DAT](INFO): got valid direction response:
06:05:10.3026 LVL= 12720, 7313, 15938, 12659, AGC= 27, IDX= 497,-0.50, 1.343, 1.157, 0.217, 2.119, PHS=-0.688,-0.915,-1.905, RAW= 40.1, 47.9, CAL= 36.9, 52.7, ROT= 113.1, -52.7
2025-06-05T06:05:11.629Z,1749103511.629 [DAT](INFO): #Rx 31: Read direction message, but no range.
2025-06-05T06:05:11.631Z,1749103511.631 [DAT](INFO): direction in FSK: [-0.237752,0.557401,0.795473]
2025-06-05T06:05:11.876Z,1749103511.876 [DAT](INFO): DAT read: Rx Time:06:05:10.8026
2025-06-05T06:05:11.877Z,1749103511.877 [DAT](INFO): Rx dataTimestamp_ set to:1749103511.876442
2025-06-05T06:05:11.878Z,1749103511.878 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:11.879Z,1749103511.879 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-06-05T06:05:12.049Z,1749103512.049 [DockingStepper](INFO): Stopping
2025-06-05T06:05:12.379Z,1749103512.379 [DAT](INFO): DAT read: Rx Time:06:05:11.3025
2025-06-05T06:05:12.380Z,1749103512.380 [DAT](INFO): Rx dataTimestamp_ set to:1749103512.379591
2025-06-05T06:05:12.381Z,1749103512.381 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:12.382Z,1749103512.382 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-06-05T06:05:12.383Z,1749103512.383 [DockingStepper](INFO): Stopping
2025-06-05T06:05:12.753Z,1749103512.753 [DockingStepper](INFO): Stopping
2025-06-05T06:05:12.883Z,1749103512.883 [DAT](INFO): DAT read: Rx Time:06:05:11.8026
2025-06-05T06:05:12.884Z,1749103512.884 [DAT](INFO): Rx dataTimestamp_ set to:1749103512.883467
2025-06-05T06:05:12.885Z,1749103512.885 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:12.885Z,1749103512.885 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-06-05T06:05:13.206Z,1749103513.206 [DockingStepper](INFO): Stopping
2025-06-05T06:05:13.387Z,1749103513.387 [DAT](INFO): DAT read: Rx Time:06:05:12.3025
2025-06-05T06:05:13.388Z,1749103513.388 [DAT](INFO): Rx dataTimestamp_ set to:1749103513.387448
2025-06-05T06:05:13.389Z,1749103513.389 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:13.389Z,1749103513.389 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-06-05T06:05:13.579Z,1749103513.579 [DockingStepper](INFO): Stopping
2025-06-05T06:05:13.891Z,1749103513.891 [DAT](INFO): DAT read: Rx Time:06:05:12.8026
2025-06-05T06:05:13.893Z,1749103513.893 [DAT](INFO): Rx dataTimestamp_ set to:1749103513.891961
2025-06-05T06:05:13.899Z,1749103513.899 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:13.899Z,1749103513.899 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-06-05T06:05:13.000Z,1749103514.000 [DockingStepper](INFO): Stopping
2025-06-05T06:05:14.396Z,1749103514.396 [DAT](INFO): DAT read: Rx Time:06:05:13.3025
2025-06-05T06:05:14.396Z,1749103514.396 [DAT](INFO): Rx dataTimestamp_ set to:1749103514.395849
2025-06-05T06:05:14.397Z,1749103514.397 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:14.398Z,1749103514.398 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-06-05T06:05:14.420Z,1749103514.420 [DockingStepper](INFO): Stopping
2025-06-05T06:05:14.781Z,1749103514.781 [DockingStepper](INFO): Stopping
2025-06-05T06:05:14.899Z,1749103514.899 [DAT](INFO): DAT read: Rx Time:06:05:13.8026
2025-06-05T06:05:14.900Z,1749103514.900 [DAT](INFO): Rx dataTimestamp_ set to:1749103514.899338
2025-06-05T06:05:14.901Z,1749103514.901 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:14.901Z,1749103514.901 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-06-05T06:05:15.251Z,1749103515.251 [DockingStepper](INFO): Stopping
2025-06-05T06:05:15.403Z,1749103515.403 [DAT](INFO): DAT read: Rx Time:06:05:14.3026
2025-06-05T06:05:15.404Z,1749103515.404 [DAT](INFO): Rx dataTimestamp_ set to:1749103515.403483
2025-06-05T06:05:15.405Z,1749103515.405 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:15.406Z,1749103515.406 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-06-05T06:05:15.573Z,1749103515.573 [DockingStepper](INFO): Stopping
2025-06-05T06:05:15.915Z,1749103515.915 [DAT](INFO): DAT read: Rx Time:06:05:14.8027
2025-06-05T06:05:15.916Z,1749103515.916 [DAT](INFO): Rx dataTimestamp_ set to:1749103515.915676
2025-06-05T06:05:15.917Z,1749103515.917 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:15.918Z,1749103515.918 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-06-05T06:05:16.020Z,1749103516.020 [DockingStepper](INFO): Stopping
2025-06-05T06:05:16.412Z,1749103516.412 [DAT](INFO): DAT read: Rx Time:06:05:15.3026
2025-06-05T06:05:16.412Z,1749103516.412 [DAT](INFO): Rx dataTimestamp_ set to:1749103516.411943
2025-06-05T06:05:16.413Z,1749103516.413 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:16.414Z,1749103516.414 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-06-05T06:05:16.436Z,1749103516.436 [DockingStepper](INFO): Stopping
2025-06-05T06:05:16.817Z,1749103516.817 [DockingStepper](INFO): Stopping
2025-06-05T06:05:16.915Z,1749103516.915 [DAT](INFO): DAT read: Rx Time:06:05:15.8027
2025-06-05T06:05:16.916Z,1749103516.916 [DAT](INFO): Rx dataTimestamp_ set to:1749103516.915666
2025-06-05T06:05:16.917Z,1749103516.917 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:16.918Z,1749103516.918 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-06-05T06:05:17.263Z,1749103517.263 [DockingStepper](INFO): Stopping
2025-06-05T06:05:17.419Z,1749103517.419 [DAT](INFO): DAT read: Rx Time:06:05:16.3026
2025-06-05T06:05:17.420Z,1749103517.420 [DAT](INFO): Rx dataTimestamp_ set to:1749103517.419463
2025-06-05T06:05:17.421Z,1749103517.421 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:17.421Z,1749103517.421 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-06-05T06:05:17.605Z,1749103517.605 [DockingStepper](INFO): Stopped
2025-06-05T06:05:17.612Z,1749103517.612 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-06-05T06:05:17.612Z,1749103517.612 [DockingStepper] No Fault, FailCount= 2
2025-06-05T06:05:17.923Z,1749103517.923 [DAT](INFO): DAT read: Rx Time:06:05:16.8026
2025-06-05T06:05:17.924Z,1749103517.924 [DAT](INFO): Rx dataTimestamp_ set to:1749103517.923446
2025-06-05T06:05:17.925Z,1749103517.925 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:17.927Z,1749103517.927 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-06-05T06:05:18.039Z,1749103518.039 [DockingStepper](INFO): Start
2025-06-05T06:05:18.039Z,1749103518.039 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-05T06:05:18.039Z,1749103518.039 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-05T06:05:18.428Z,1749103518.428 [DAT](INFO): DAT read: Rx Time:06:05:17.3026
2025-06-05T06:05:18.429Z,1749103518.429 [DAT](INFO): Rx dataTimestamp_ set to:1749103518.428248
2025-06-05T06:05:18.430Z,1749103518.430 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:18.430Z,1749103518.430 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-06-05T06:05:18.569Z,1749103518.569 [DockingStepper](INFO): Starting
2025-06-05T06:05:18.917Z,1749103518.917 [DockingStepper](INFO): Starting
2025-06-05T06:05:18.932Z,1749103518.932 [DAT](INFO): DAT read: Rx Time:06:05:17.8026
2025-06-05T06:05:18.932Z,1749103518.932 [DAT](INFO): Rx dataTimestamp_ set to:1749103518.932027
2025-06-05T06:05:18.934Z,1749103518.934 [DAT](INFO): DAT read: Bearing 111.3, -59.2 (Local)
2025-06-05T06:05:18.935Z,1749103518.935 [DAT](INFO): Local bearing/azimuth received:
Bearing 111.3, -59.2 (Local)
2025-06-05T06:05:18.937Z,1749103518.937 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:18.941Z,1749103518.941 [DAT](INFO): DAT read: 06:05:17.8026 LVL= 14832, 9457, 14722, 10675, AGC= 27, IDX= 511, 0.31, 0.718, 0.550,-0.209, 1.659, PHS=-0.853,-1.063,-1.871, RAW= 41.2, 55.2, CAL= 38.7, 59.2, ROT= 111.3, -59.2
2025-06-05T06:05:18.944Z,1749103518.944 [DAT](INFO): got valid direction response:
06:05:17.8026 LVL= 14832, 9457, 14722, 10675, AGC= 27, IDX= 511, 0.31, 0.718, 0.550,-0.209, 1.659, PHS=-0.853,-1.063,-1.871, RAW= 41.2, 55.2, CAL= 38.7, 59.2, ROT= 111.3, -59.2
2025-06-05T06:05:18.945Z,1749103518.945 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-05T06:05:18.946Z,1749103518.946 [DAT](INFO): direction in FSK: [-0.186000,0.477066,0.858960]
2025-06-05T06:05:18.947Z,1749103518.947 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:19.334Z,1749103519.334 [DockingStepper](INFO): Starting
2025-06-05T06:05:19.384Z,1749103519.384 [DockingStepper](INFO): Init string: /1z13168aE13561N3m50
2025-06-05T06:05:19.436Z,1749103519.436 [DAT](INFO): DAT read: Rx Time:06:05:18.3025
2025-06-05T06:05:19.436Z,1749103519.436 [DAT](INFO): Rx dataTimestamp_ set to:1749103519.435846
2025-06-05T06:05:19.437Z,1749103519.437 [DAT](INFO): DAT read: Bearing 107.7, -54.8 (Local)
2025-06-05T06:05:19.438Z,1749103519.438 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.7, -54.8 (Local)
2025-06-05T06:05:19.440Z,1749103519.440 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:19.446Z,1749103519.446 [DAT](INFO): DAT read: 06:05:18.3025 LVL= 12576, 12705, 10578, 11891, AGC= 25, IDX= 511,-0.41, 2.373, 2.085, 1.239,-3.102, PHS=-0.721,-1.050,-1.946, RAW= 45.0, 50.1, CAL= 42.3, 54.8, ROT= 107.7, -54.8
2025-06-05T06:05:19.447Z,1749103519.447 [DAT](INFO): got valid direction response:
06:05:18.3025 LVL= 12576, 12705, 10578, 11891, AGC= 25, IDX= 511,-0.41, 2.373, 2.085, 1.239,-3.102, PHS=-0.721,-1.050,-1.946, RAW= 45.0, 50.1, CAL= 42.3, 54.8, ROT= 107.7, -54.8
2025-06-05T06:05:19.447Z,1749103519.447 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-05T06:05:19.448Z,1749103519.448 [DAT](INFO): direction in FSK: [-0.175254,0.549145,0.817145]
2025-06-05T06:05:19.448Z,1749103519.448 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:19.641Z,1749103519.641 [DockingStepper](INFO): Starting
2025-06-05T06:05:19.940Z,1749103519.940 [DAT](INFO): DAT read: Rx Time:06:05:18.8026
2025-06-05T06:05:19.940Z,1749103519.940 [DAT](INFO): Rx dataTimestamp_ set to:1749103519.939929
2025-06-05T06:05:19.942Z,1749103519.942 [DAT](INFO): DAT read: Bearing 111.7, -44.1 (Local)
2025-06-05T06:05:19.943Z,1749103519.943 [DAT](INFO): Local bearing/azimuth received:
Bearing 111.7, -44.1 (Local)
2025-06-05T06:05:19.946Z,1749103519.946 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:19.950Z,1749103519.950 [DAT](INFO): DAT read: 06:05:18.8026 LVL= 9712, 15009, 10114, 9939, AGC= 25, IDX= 512,-0.33, 2.400, 2.075, 0.834, 2.931, PHS=-0.443,-0.809,-2.100, RAW= 42.1, 38.2, CAL= 38.3, 44.1, ROT= 111.7, -44.1
2025-06-05T06:05:19.951Z,1749103519.951 [DAT](INFO): got valid direction response:
06:05:18.8026 LVL= 9712, 15009, 10114, 9939, AGC= 25, IDX= 512,-0.33, 2.400, 2.075, 0.834, 2.931, PHS=-0.443,-0.809,-2.100, RAW= 42.1, 38.2, CAL= 38.3, 44.1, ROT= 111.7, -44.1
2025-06-05T06:05:19.952Z,1749103519.952 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-06-05T06:05:19.953Z,1749103519.953 [DAT](INFO): direction in FSK: [-0.265525,0.667235,0.695913]
2025-06-05T06:05:19.953Z,1749103519.953 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:20.101Z,1749103520.101 [DockingStepper](INFO): Starting
2025-06-05T06:05:20.445Z,1749103520.445 [DAT](INFO): DAT read: Rx Time:06:05:19.3025
2025-06-05T06:05:20.445Z,1749103520.445 [DAT](INFO): Rx dataTimestamp_ set to:1749103520.445007
2025-06-05T06:05:20.447Z,1749103520.447 [DAT](INFO): DAT read: Bearing 105.0, -53.0 (Local)
2025-06-05T06:05:20.447Z,1749103520.447 [DAT](INFO): Local bearing/azimuth received:
Bearing 105.0, -53.0 (Local)
2025-06-05T06:05:20.449Z,1749103520.449 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:20.454Z,1749103520.454 [DAT](INFO): DAT read: 06:05:19.3025 LVL= 8944, 13937, 9602, 9923, AGC= 25, IDX= 511,-0.28, 2.411, 2.036, 1.172,-3.136, PHS=-0.648,-1.064,-1.978, RAW= 47.8, 47.9, CAL= 45.0, 53.0, ROT= 105.0, -53.0
2025-06-05T06:05:20.455Z,1749103520.455 [DAT](INFO): got valid direction response:
06:05:19.3025 LVL= 8944, 13937, 9602, 9923, AGC= 25, IDX= 511,-0.28, 2.411, 2.036, 1.172,-3.136, PHS=-0.648,-1.064,-1.978, RAW= 47.8, 47.9, CAL= 45.0, 53.0, ROT= 105.0, -53.0
2025-06-05T06:05:20.455Z,1749103520.455 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-05T06:05:20.456Z,1749103520.456 [DAT](INFO): direction in FSK: [-0.155761,0.581309,0.798636]
2025-06-05T06:05:20.456Z,1749103520.456 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:20.552Z,1749103520.552 [DockingStepper](INFO): Starting
2025-06-05T06:05:20.828Z,1749103520.828 [DockingStepper](INFO): Starting
2025-06-05T06:05:20.868Z,1749103520.868 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-05T06:05:20.948Z,1749103520.948 [DAT](INFO): DAT read: Rx Time:06:05:19.8027
2025-06-05T06:05:20.948Z,1749103520.948 [DAT](INFO): Rx dataTimestamp_ set to:1749103520.947811
2025-06-05T06:05:20.949Z,1749103520.949 [DAT](INFO): DAT read: Bearing 109.4, -43.4 (Local)
2025-06-05T06:05:20.950Z,1749103520.950 [DAT](INFO): Local bearing/azimuth received:
Bearing 109.4, -43.4 (Local)
2025-06-05T06:05:20.952Z,1749103520.952 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:20.956Z,1749103520.956 [DAT](INFO): DAT read: 06:05:19.8027 LVL= 7920, 17649, 8946, 9715, AGC= 25, IDX= 512,-0.34,-2.552,-2.924, 2.221,-2.103, PHS=-0.361,-0.774,-1.963, RAW= 44.4, 37.2, CAL= 40.6, 43.4, ROT= 109.4, -43.4
2025-06-05T06:05:20.957Z,1749103520.957 [DAT](INFO): got valid direction response:
06:05:19.8027 LVL= 7920, 17649, 8946, 9715, AGC= 25, IDX= 512,-0.34,-2.552,-2.924, 2.221,-2.103, PHS=-0.361,-0.774,-1.963, RAW= 44.4, 37.2, CAL= 40.6, 43.4, ROT= 109.4, -43.4
2025-06-05T06:05:20.958Z,1749103520.958 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-06-05T06:05:20.960Z,1749103520.960 [DAT](INFO): direction in FSK: [-0.241340,0.685322,0.687088]
2025-06-05T06:05:20.961Z,1749103520.961 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:21.368Z,1749103521.368 [DockingStepper](INFO): Starting
2025-06-05T06:05:21.452Z,1749103521.452 [DAT](INFO): DAT read: Rx Time:06:05:20.3026
2025-06-05T06:05:21.452Z,1749103521.452 [DAT](INFO): Rx dataTimestamp_ set to:1749103521.452006
2025-06-05T06:05:21.454Z,1749103521.454 [DAT](INFO): DAT read: Bearing 100.3, -55.7 (Local)
2025-06-05T06:05:21.454Z,1749103521.454 [DAT](INFO): Local bearing/azimuth received:
Bearing 100.3, -55.7 (Local)
2025-06-05T06:05:21.456Z,1749103521.456 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:21.462Z,1749103521.462 [DAT](INFO): DAT read: 06:05:20.3026 LVL= 7808, 17569, 8482, 9427, AGC= 25, IDX= 511,-0.32,-1.982,-2.432, 3.096,-1.179, PHS=-0.715,-1.206,-2.011, RAW= 52.0, 50.8, CAL= 49.7, 55.7, ROT= 100.3, -55.7
2025-06-05T06:05:21.463Z,1749103521.463 [DAT](INFO): got valid direction response:
06:05:20.3026 LVL= 7808, 17569, 8482, 9427, AGC= 25, IDX= 511,-0.32,-1.982,-2.432, 3.096,-1.179, PHS=-0.715,-1.206,-2.011, RAW= 52.0, 50.8, CAL= 49.7, 55.7, ROT= 100.3, -55.7
2025-06-05T06:05:21.464Z,1749103521.464 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-06-05T06:05:21.465Z,1749103521.465 [DAT](INFO): direction in FSK: [-0.100760,0.554445,0.826098]
2025-06-05T06:05:21.465Z,1749103521.465 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:21.669Z,1749103521.669 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T06:05:21.669Z,1749103521.669 [DockingStepper](INFO): Standby mode.
2025-06-05T06:05:21.730Z,1749103521.730 [DockingStepper](INFO): Commanding positive:20213
2025-06-05T06:05:21.956Z,1749103521.956 [DAT](INFO): DAT read: Rx Time:06:05:20.8027
2025-06-05T06:05:21.956Z,1749103521.956 [DAT](INFO): Rx dataTimestamp_ set to:1749103521.955848
2025-06-05T06:05:21.957Z,1749103521.957 [DAT](INFO): DAT read: Bearing 107.9, -45.8 (Local)
2025-06-05T06:05:21.958Z,1749103521.958 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.9, -45.8 (Local)
2025-06-05T06:05:21.961Z,1749103521.961 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:21.966Z,1749103521.966 [DAT](INFO): DAT read: 06:05:20.8027 LVL= 7456, 18065, 8498, 9379, AGC= 25, IDX= 512,-0.25,-2.102,-2.487, 2.735,-1.588, PHS=-0.426,-0.852,-1.963, RAW= 45.6, 39.8, CAL= 42.1, 45.8, ROT= 107.9, -45.8
2025-06-05T06:05:21.968Z,1749103521.968 [DAT](INFO): got valid direction response:
06:05:20.8027 LVL= 7456, 18065, 8498, 9379, AGC= 25, IDX= 512,-0.25,-2.102,-2.487, 2.735,-1.588, PHS=-0.426,-0.852,-1.963, RAW= 45.6, 39.8, CAL= 42.1, 45.8, ROT= 107.9, -45.8
2025-06-05T06:05:21.968Z,1749103521.968 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-05T06:05:21.969Z,1749103521.969 [DAT](INFO): direction in FSK: [-0.214278,0.663418,0.716911]
2025-06-05T06:05:21.970Z,1749103521.970 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:22.461Z,1749103522.461 [DAT](INFO): DAT read: Rx Time:06:05:21.3026
2025-06-05T06:05:22.461Z,1749103522.461 [DAT](INFO): Rx dataTimestamp_ set to:1749103522.461193
2025-06-05T06:05:22.463Z,1749103522.463 [DAT](INFO): DAT read: Bearing 104.1, -52.4 (Local)
2025-06-05T06:05:22.463Z,1749103522.463 [DAT](INFO): Local bearing/azimuth received:
Bearing 104.1, -52.4 (Local)
2025-06-05T06:05:22.465Z,1749103522.465 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:22.470Z,1749103522.470 [DAT](INFO): DAT read: 06:05:21.3026 LVL= 8256, 15409, 9266, 9715, AGC= 25, IDX= 511,-0.12, 2.801, 2.390, 1.509,-2.764, PHS=-0.630,-1.083,-2.013, RAW= 48.7, 47.2, CAL= 45.9, 52.4, ROT= 104.1, -52.4
2025-06-05T06:05:22.471Z,1749103522.471 [DAT](INFO): got valid direction response:
06:05:21.3026 LVL= 8256, 15409, 9266, 9715, AGC= 25, IDX= 511,-0.12, 2.801, 2.390, 1.509,-2.764, PHS=-0.630,-1.083,-2.013, RAW= 48.7, 47.2, CAL= 45.9, 52.4, ROT= 104.1, -52.4
2025-06-05T06:05:22.471Z,1749103522.471 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-05T06:05:22.472Z,1749103522.472 [DAT](INFO): direction in FSK: [-0.148641,0.591763,0.792290]
2025-06-05T06:05:22.472Z,1749103522.472 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:22.964Z,1749103522.964 [DAT](INFO): DAT read: Rx Time:06:05:21.8026
2025-06-05T06:05:22.964Z,1749103522.964 [DAT](INFO): Rx dataTimestamp_ set to:1749103522.963964
2025-06-05T06:05:22.965Z,1749103522.965 [DAT](INFO): DAT read: Bearing 108.8, -52.5 (Local)
2025-06-05T06:05:22.966Z,1749103522.966 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.8, -52.5 (Local)
2025-06-05T06:05:22.968Z,1749103522.968 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:22.978Z,1749103522.978 [DAT](INFO): DAT read: 06:05:21.8026 LVL= 9280, 13921, 10130, 9923, AGC= 25, IDX= 511, 0.00, 2.480, 2.185, 1.250,-3.045, PHS=-0.670,-1.006,-1.991, RAW= 44.2, 47.5, CAL= 41.2, 52.5, ROT= 108.8, -52.5
2025-06-05T06:05:23.031Z,1749103523.031 [DAT](INFO): got valid direction response:
06:05:21.8026 LVL= 9280, 13921, 10130, 9923, AGC= 25, IDX= 511, 0.00, 2.480, 2.185, 1.250,-3.045, PHS=-0.670,-1.006,-1.991, RAW= 44.2, 47.5, CAL= 41.2, 52.5, ROT= 108.8, -52.5
2025-06-05T06:05:23.031Z,1749103523.031 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-05T06:05:23.032Z,1749103523.032 [DAT](INFO): direction in FSK: [-0.196183,0.576284,0.793353]
2025-06-05T06:05:23.032Z,1749103523.032 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:23.468Z,1749103523.468 [DAT](INFO): DAT read: Rx Time:06:05:22.3026
2025-06-05T06:05:23.468Z,1749103523.468 [DAT](INFO): Rx dataTimestamp_ set to:1749103523.467738
2025-06-05T06:05:23.469Z,1749103523.469 [DAT](INFO): DAT read: Bearing 111.6, -51.5 (Local)
2025-06-05T06:05:23.470Z,1749103523.470 [DAT](INFO): Local bearing/azimuth received:
Bearing 111.6, -51.5 (Local)
2025-06-05T06:05:23.472Z,1749103523.472 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:23.478Z,1749103523.478 [DAT](INFO): DAT read: 06:05:22.3026 LVL= 11232, 11761, 13218, 10963, AGC= 26, IDX= 510, 0.08, 1.252, 1.015, 0.039, 1.994, PHS=-0.654,-0.932,-1.958, RAW= 41.7, 46.5, CAL= 38.4, 51.5, ROT= 111.6, -51.5
2025-06-05T06:05:23.479Z,1749103523.479 [DAT](INFO): got valid direction response:
06:05:22.3026 LVL= 11232, 11761, 13218, 10963, AGC= 26, IDX= 510, 0.08, 1.252, 1.015, 0.039, 1.994, PHS=-0.654,-0.932,-1.958, RAW= 41.7, 46.5, CAL= 38.4, 51.5, ROT= 111.6, -51.5
2025-06-05T06:05:23.480Z,1749103523.480 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-05T06:05:23.481Z,1749103523.481 [DAT](INFO): direction in FSK: [-0.229163,0.578799,0.782608]
2025-06-05T06:05:23.481Z,1749103523.481 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:23.972Z,1749103523.972 [DAT](INFO): DAT read: Rx Time:06:05:22.8027
2025-06-05T06:05:23.972Z,1749103523.972 [DAT](INFO): Rx dataTimestamp_ set to:1749103523.971768
2025-06-05T06:05:23.973Z,1749103523.973 [DAT](INFO): DAT read: Bearing 111.4, -53.5 (Local)
2025-06-05T06:05:23.974Z,1749103523.974 [DAT](INFO): Local bearing/azimuth received:
Bearing 111.4, -53.5 (Local)
2025-06-05T06:05:23.977Z,1749103523.977 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:23.981Z,1749103523.981 [DAT](INFO): DAT read: 06:05:22.8027 LVL= 12688, 8833, 14002, 10819, AGC= 26, IDX= 511, 0.02,-2.602,-2.818, 2.562,-1.818, PHS=-0.696,-0.954,-1.906, RAW= 41., CAL= 38.6, 53.5, ROT= 111.4, -53.5
2025-06-05T06:05:23.982Z,1749103523.982 [DAT](INFO): unknown deviceResponse_: 06:05:22.8027 LVL= 12688, 8833, 14002, 10819, AGC= 26, IDX= 511, 0.02,-2.602,-2.818, 2.562,-1.818, PHS=-0.696,-0.954,-1.906, RAW= 41., CAL= 38.6, 53.5, ROT= 111.4, -53.5
2025-06-05T06:05:23.983Z,1749103523.983 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-06-05T06:05:24.167Z,1749103524.167 [DockingStepper](INFO): Commanding positive:19621
2025-06-05T06:05:24.477Z,1749103524.477 [DAT](INFO): DAT read: Rx Time:06:05:23.3025
2025-06-05T06:05:24.478Z,1749103524.478 [DAT](INFO): Rx dataTimestamp_ set to:1749103524.477125
2025-06-05T06:05:24.480Z,1749103524.480 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:24.482Z,1749103524.482 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-06-05T06:05:24.980Z,1749103524.980 [DAT](INFO): DAT read: Rx Time:06:05:23.8026
2025-06-05T06:05:24.980Z,1749103524.980 [DAT](INFO): Rx dataTimestamp_ set to:1749103524.979734
2025-06-05T06:05:24.981Z,1749103524.981 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:24.982Z,1749103524.982 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-06-05T06:05:25.484Z,1749103525.484 [DAT](INFO): DAT read: Rx Time:06:05:24.3025
2025-06-05T06:05:25.485Z,1749103525.485 [DAT](INFO): Rx dataTimestamp_ set to:1749103525.484342
2025-06-05T06:05:25.488Z,1749103525.488 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:25.490Z,1749103525.490 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-06-05T06:05:25.999Z,1749103525.999 [DAT](INFO): DAT read: Rx Time:06:05:24.8026
2025-06-05T06:05:25.000Z,1749103526.000 [DAT](INFO): Rx dataTimestamp_ set to:1749103525.999495
2025-06-05T06:05:26.001Z,1749103526.001 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:26.002Z,1749103526.002 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-06-05T06:05:26.306Z,1749103526.306 [DockingStepper](INFO): Commanding positive:19615
2025-06-05T06:05:26.505Z,1749103526.505 [DAT](INFO): DAT read: Rx Time:06:05:25.3026
2025-06-05T06:05:26.507Z,1749103526.507 [DAT](INFO): Rx dataTimestamp_ set to:1749103526.506084
2025-06-05T06:05:26.509Z,1749103526.509 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:26.511Z,1749103526.511 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-06-05T06:05:27.007Z,1749103527.007 [DAT](INFO): DAT read: Rx Time:06:05:25.8026
2025-06-05T06:05:27.008Z,1749103527.008 [DAT](INFO): Rx dataTimestamp_ set to:1749103527.007421
2025-06-05T06:05:27.010Z,1749103527.010 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:27.011Z,1749103527.011 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-06-05T06:05:27.513Z,1749103527.513 [DAT](INFO): DAT read: Rx Time:06:05:26.3025
2025-06-05T06:05:27.514Z,1749103527.514 [DAT](INFO): Rx dataTimestamp_ set to:1749103527.512856
2025-06-05T06:05:27.516Z,1749103527.516 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:27.517Z,1749103527.517 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-06-05T06:05:28.017Z,1749103528.017 [DAT](INFO): DAT read: Rx Time:06:05:26.8026
2025-06-05T06:05:28.019Z,1749103528.019 [DAT](INFO): Rx dataTimestamp_ set to:1749103528.017755
2025-06-05T06:05:28.021Z,1749103528.021 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:28.022Z,1749103528.022 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-06-05T06:05:28.520Z,1749103528.520 [DAT](INFO): DAT read: Rx Time:06:05:27.3025
2025-06-05T06:05:28.520Z,1749103528.520 [DAT](INFO): Rx dataTimestamp_ set to:1749103528.520161
2025-06-05T06:05:28.522Z,1749103528.522 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:28.522Z,1749103528.522 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-06-05T06:05:28.650Z,1749103528.650 [DockingStepper](INFO): Commanding positive:19615
2025-06-05T06:05:29.023Z,1749103529.023 [DAT](INFO): DAT read: Rx Time:06:05:27.8027
2025-06-05T06:05:29.024Z,1749103529.024 [DAT](INFO): Rx dataTimestamp_ set to:1749103529.023465
2025-06-05T06:05:29.025Z,1749103529.025 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:29.027Z,1749103529.027 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-06-05T06:05:29.528Z,1749103529.528 [DAT](INFO): DAT read: Rx Time:06:05:28.3027
2025-06-05T06:05:29.529Z,1749103529.529 [DAT](INFO): Rx dataTimestamp_ set to:1749103529.528229
2025-06-05T06:05:29.530Z,1749103529.530 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:29.530Z,1749103529.530 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-06-05T06:05:30.032Z,1749103530.032 [DAT](INFO): DAT read: Rx Time:06:05:28.8027
2025-06-05T06:05:30.032Z,1749103530.032 [DAT](INFO): Rx dataTimestamp_ set to:1749103530.031743
2025-06-05T06:05:30.033Z,1749103530.033 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:30.034Z,1749103530.034 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-06-05T06:05:30.199Z,1749103530.199 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:05:30.536Z,1749103530.536 [DAT](INFO): DAT read: Rx Time:06:05:29.3026
2025-06-05T06:05:30.537Z,1749103530.537 [DAT](INFO): Rx dataTimestamp_ set to:1749103530.536789
2025-06-05T06:05:30.540Z,1749103530.540 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:30.541Z,1749103530.541 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-06-05T06:05:30.990Z,1749103530.990 [DockingStepper](INFO): Commanding positive:19424
2025-06-05T06:05:31.027Z,1749103531.027 [DockingStepper](FAULT): Timed out moving from: 13295 to: 16450 response: ÿ
2025-06-05T06:05:31.027Z,1749103531.027 [DockingStepper] Hardware Fault, FailCount= 3
2025-06-05T06:05:31.027Z,1749103531.027 [DockingStepper](ERROR): Hardware Fault
2025-06-05T06:05:31.032Z,1749103531.032 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-06-05T06:05:31.039Z,1749103531.039 [DAT](INFO): DAT read: Rx Time:06:05:29.8027
2025-06-05T06:05:31.040Z,1749103531.040 [DAT](INFO): Rx dataTimestamp_ set to:1749103531.039444
2025-06-05T06:05:31.041Z,1749103531.041 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:31.041Z,1749103531.041 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-06-05T06:05:31.204Z,1749103531.204 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:05:31.443Z,1749103531.443 [DockingStepper](INFO): Stop
2025-06-05T06:05:31.443Z,1749103531.443 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-05T06:05:31.443Z,1749103531.443 [DockingStepper](INFO): Powering down
2025-06-05T06:05:31.544Z,1749103531.544 [DAT](INFO): DAT read: Rx Time:06:05:30.3026
2025-06-05T06:05:31.544Z,1749103531.544 [DAT](INFO): Rx dataTimestamp_ set to:1749103531.543855
2025-06-05T06:05:31.545Z,1749103531.545 [DAT](INFO): DAT read: Bearing 107.0, -56.6 (Local)
2025-06-05T06:05:31.546Z,1749103531.546 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.0, -56.6 (Local)
2025-06-05T06:05:31.548Z,1749103531.548 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:31.554Z,1749103531.554 [DAT](INFO): DAT read: 06:05:30.3026 LVL= 14304, 8433, 14002, 10739, AGC= 27, IDX= 510,-0.17, 1.115, 0.837, 0.061, 1.952, PHS=-0.750,-1.068,-1.894, RAW= 45.6, 52.1, CAL= 43.0, 56.6, ROT= 107.0, -56.6
2025-06-05T06:05:31.556Z,1749103531.556 [DAT](INFO): got valid direction response:
06:05:30.3026 LVL= 14304, 8433, 14002, 10739, AGC= 27, IDX= 510,-0.17, 1.115, 0.837, 0.061, 1.952, PHS=-0.750,-1.068,-1.894, RAW= 45.6, 52.1, CAL= 43.0, 56.6, ROT= 107.0, -56.6
2025-06-05T06:05:31.557Z,1749103531.557 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-06-05T06:05:31.558Z,1749103531.558 [DAT](INFO): direction in FSK: [-0.160945,0.526427,0.834848]
2025-06-05T06:05:31.559Z,1749103531.559 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:31.783Z,1749103531.783 [DockingStepper](INFO): Stopping
2025-06-05T06:05:32.048Z,1749103532.048 [DAT](INFO): DAT read: Rx Time:06:05:30.8028
2025-06-05T06:05:32.048Z,1749103532.048 [DAT](INFO): Rx dataTimestamp_ set to:1749103532.047937
2025-06-05T06:05:32.049Z,1749103532.049 [DAT](INFO): DAT read: Bearing 107.0, -56.2 (Local)
2025-06-05T06:05:32.050Z,1749103532.050 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.0, -56.2 (Local)
2025-06-05T06:05:32.052Z,1749103532.052 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0
2025-06-05T06:05:32.061Z,1749103532.061 [DAT](INFO): DAT read: 06:05:30.8028 LVL= 12208, 11633, 12530, 10499, AGC= 26, IDX= 511,-0.03, 1.495, 1.211, 0.418, 2.330, PHS=-0.747,-1.072,-1.915, RAW= 45.6, 51.7, CAL= 43.0, 56.2, ROT= 107.0, -56.2
2025-06-05T06:05:32.074Z,1749103532.074 [DAT](INFO): got valid direction response:
06:05:30.8028 LVL= 12208, 11633, 12530, 10499, AGC= 26, IDX= 511,-0.03, 1.495, 1.211, 0.418, 2.330, PHS=-0.747,-1.072,-1.915, RAW= 45.6, 51.7, CAL= 43.0, 56.2, ROT= 107.0, -56.2
2025-06-05T06:05:32.075Z,1749103532.075 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-06-05T06:05:32.077Z,1749103532.077 [DAT](INFO): direction in FSK: [-0.162645,0.531988,0.830984]
2025-06-05T06:05:32.078Z,1749103532.078 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:32.281Z,1749103532.281 [DockingStepper](INFO): Stopping
2025-06-05T06:05:32.560Z,1749103532.560 [DAT](INFO): DAT read: Rx Time:06:05:31.3027
2025-06-05T06:05:32.560Z,1749103532.560 [DAT](INFO): Rx dataTimestamp_ set to:1749103532.559928
2025-06-05T06:05:32.561Z,1749103532.561 [DAT](INFO): DAT read: Bearing 109.7, -54.3 (Local)
2025-06-05T06:05:32.562Z,1749103532.562 [DAT](INFO): Local bearing/azimuth received:
Bearing 109.7, -54.3 (Local)
2025-06-05T06:05:32.564Z,1749103532.564 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:32.568Z,1749103532.568 [DAT](INFO): DAT read: 06:05:31.3027 LVL= 11024, 10721, 12402, 11155, AGC= 26, IDX= 510, 0.06, 1.079, 0.833,-0.027, 1.872, PHS=-0.705,-0.992,-1.902, RAW= 43.2, 49.6, CAL= 40.3, 54.3, ROT= 109.7, -54.3
2025-06-05T06:05:32.571Z,1749103532.571 [DAT](INFO): got valid direction response:
06:05:31.3027 LVL= 11024, 10721, 12402, 11155, AGC= 26, IDX= 510, 0.06, 1.079, 0.833,-0.027, 1.872, PHS=-0.705,-0.992,-1.902, RAW= 43.2, 49.6, CAL= 40.3, 54.3, ROT= 109.7, -54.3
2025-06-05T06:05:32.572Z,1749103532.572 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-06-05T06:05:32.582Z,1749103532.582 [DAT](INFO): direction in FSK: [-0.196709,0.549387,0.812084]
2025-06-05T06:05:32.582Z,1749103532.582 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:32.715Z,1749103532.715 [DockingStepper](INFO): Stopping
2025-06-05T06:05:32.966Z,1749103532.966 [DockingStepper](INFO): Stopping
2025-06-05T06:05:33.064Z,1749103533.064 [DAT](INFO): DAT read: Rx Time:06:05:31.8028
2025-06-05T06:05:33.064Z,1749103533.064 [DAT](INFO): Rx dataTimestamp_ set to:1749103533.063894
2025-06-05T06:05:33.065Z,1749103533.065 [DAT](INFO): DAT read: Bearing 106.9, -55.7 (Local)
2025-06-05T06:05:33.066Z,1749103533.066 [DAT](INFO): Local bearing/azimuth received:
Bearing 106.9, -55.7 (Local)
2025-06-05T06:05:33.068Z,1749103533.068 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0
2025-06-05T06:05:33.072Z,1749103533.072 [DAT](INFO): DAT read: 06:05:31.8028 LVL= 10672, 13377, 11250, 11107, AGC= 25, IDX= 511, 0.08, 2.095, 1.800, 0.984, 2.920, PHS=-0.738,-1.074,-1.939, RAW= 45.7, 51.0, CAL= 43.1, 55.7, ROT= 106.9, -55.7
2025-06-05T06:05:33.073Z,1749103533.073 [DAT](INFO): got valid direction response:
06:05:31.8028 LVL= 10672, 13377, 11250, 11107, AGC= 25, IDX= 511, 0.08, 2.095, 1.800, 0.984, 2.920, PHS=-0.738,-1.074,-1.939, RAW= 45.7, 51.0, CAL= 43.1, 55.7, ROT= 106.9, -55.7
2025-06-05T06:05:33.074Z,1749103533.074 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-06-05T06:05:33.075Z,1749103533.075 [DAT](INFO): direction in FSK: [-0.163818,0.539189,0.826098]
2025-06-05T06:05:33.076Z,1749103533.076 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:33.456Z,1749103533.456 [DockingStepper](INFO): Stopping
2025-06-05T06:05:33.568Z,1749103533.568 [DAT](INFO): DAT read: Rx Time:06:05:32.3027
2025-06-05T06:05:33.569Z,1749103533.569 [DAT](INFO): Rx dataTimestamp_ set to:1749103533.568650
2025-06-05T06:05:33.570Z,1749103533.570 [DAT](INFO): DAT read: Bearing 108.2, -55.6 (Local)
2025-06-05T06:05:33.571Z,1749103533.571 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.2, -55.6 (Local)
2025-06-05T06:05:33.573Z,1749103533.573 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:33.577Z,1749103533.577 [DAT](INFO): DAT read: 06:05:32.3027 LVL= 10272, 12961, 10066, 11091, AGC= 25, IDX= 510, 0.12, 1.539, 1.267, 0.428, 2.379, PHS=-0.752,-1.066,-1.954, RAW= 44.6, 51.0, CAL= 41.8, 55.6, ROT= 108.2, -55.6
2025-06-05T06:05:33.578Z,1749103533.578 [DAT](INFO): got valid direction response:
06:05:32.3027 LVL= 10272, 12961, 10066, 11091, AGC= 25, IDX= 510, 0.12, 1.539, 1.267, 0.428, 2.379, PHS=-0.752,-1.066,-1.954, RAW= 44.6, 51.0, CAL= 41.8, 55.6, ROT= 108.2, -55.6
2025-06-05T06:05:33.579Z,1749103533.579 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-06-05T06:05:33.580Z,1749103533.580 [DAT](INFO): direction in FSK: [-0.176459,0.536703,0.825113]
2025-06-05T06:05:33.580Z,1749103533.580 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:33.825Z,1749103533.825 [DockingStepper](INFO): Stopping
2025-06-05T06:05:34.072Z,1749103534.072 [DAT](INFO): DAT read: Rx Time:06:05:32.8027
2025-06-05T06:05:34.073Z,1749103534.073 [DAT](INFO): Rx dataTimestamp_ set to:1749103534.072339
2025-06-05T06:05:34.074Z,1749103534.074 [DAT](INFO): DAT read: Bearing 107.1, -55.8 (Local)
2025-06-05T06:05:34.074Z,1749103534.074 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.1, -55.8 (Local)
2025-06-05T06:05:34.078Z,1749103534.078 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:34.083Z,1749103534.083 [DAT](INFO): DAT read: 06:05:32.8027 LVL= 9936, 13809, 9202, 10867, AGC= 24, IDX= 510, 0.13, 1.442, 1.146, 0.316, 2.289, PHS=-0.759,-1.097,-1.977, RAW= 45.6, 51.2, CAL= 42.9, 55.8, ROT= 107.1, -55.8
2025-06-05T06:05:34.084Z,1749103534.084 [DAT](INFO): got valid direction response:
06:05:32.8027 LVL= 9936, 13809, 9202, 10867, AGC= 24, IDX= 510, 0.13, 1.442, 1.146, 0.316, 2.289, PHS=-0.759,-1.097,-1.977, RAW= 45.6, 51.2, CAL= 42.9, 55.8, ROT= 107.1, -55.8
2025-06-05T06:05:34.084Z,1749103534.084 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-06-05T06:05:34.085Z,1749103534.085 [DAT](INFO): direction in FSK: [-0.165275,0.537235,0.827081]
2025-06-05T06:05:34.086Z,1749103534.086 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:34.225Z,1749103534.225 [DockingStepper](INFO): Stopping
2025-06-05T06:05:34.576Z,1749103534.576 [DAT](INFO): DAT read: Rx Time:06:05:33.3026
2025-06-05T06:05:34.576Z,1749103534.576 [DAT](INFO): Rx dataTimestamp_ set to:1749103534.575954
2025-06-05T06:05:34.578Z,1749103534.578 [DAT](INFO): DAT read: Bearing 108.5, -55.4 (Local)
2025-06-05T06:05:34.579Z,1749103534.579 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.5, -55.4 (Local)
2025-06-05T06:05:34.584Z,1749103534.584 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:34.588Z,1749103534.588 [DAT](INFO): DAT read: 06:05:33.3026 LVL= 9584, 14449, 9826, 10563, AGC= 25, IDX= 509, 0.21, 0.502, 0.228,-0.636, 1.349, PHS=-0.759,-1.074,-1.988, RAW= 44.3, 50.7, CAL= 41.5, 55.4, ROT= 108.5, -55.4
2025-06-05T06:05:34.590Z,1749103534.590 [DAT](INFO): got valid direction response:
06:05:33.3026 LVL= 9584, 14449, 9826, 10563, AGC= 25, IDX= 509, 0.21, 0.502, 0.228,-0.636, 1.349, PHS=-0.759,-1.074,-1.988, RAW= 44.3, 50.7, CAL= 41.5, 55.4, ROT= 108.5, -55.4
2025-06-05T06:05:34.594Z,1749103534.594 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-05T06:05:34.595Z,1749103534.595 [DAT](INFO): direction in FSK: [-0.180179,0.538500,0.823136]
2025-06-05T06:05:34.595Z,1749103534.595 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:34.670Z,1749103534.670 [DockingStepper](INFO): Stopping
2025-06-05T06:05:34.972Z,1749103534.972 [DockingStepper](INFO): Stopping
2025-06-05T06:05:35.080Z,1749103535.080 [DAT](INFO): DAT read: Rx Time:06:05:33.8027
2025-06-05T06:05:35.080Z,1749103535.080 [DAT](INFO): Rx dataTimestamp_ set to:1749103535.079945
2025-06-05T06:05:35.081Z,1749103535.081 [DAT](INFO): DAT read: Bearing 108.4, -55.5 (Local)
2025-06-05T06:05:35.082Z,1749103535.082 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.4, -55.5 (Local)
2025-06-05T06:05:35.084Z,1749103535.084 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:35.088Z,1749103535.088 [DAT](INFO): DAT read: 06:05:33.8027 LVL= 9600, 14545, 9010, 10355, AGC= 24, IDX= 510, 0.26, 1.540, 1.264, 0.398, 2.395, PHS=-0.767,-1.084,-2.000, RAW= 44.3, 50.8, CAL= 41.6, 55.5, ROT= 108.4, -55.5
2025-06-05T06:05:35.089Z,1749103535.089 [DAT](INFO): got valid direction response:
06:05:33.8027 LVL= 9600, 14545, 9010, 10355, AGC= 24, IDX= 510, 0.26, 1.540, 1.264, 0.398, 2.395, PHS=-0.767,-1.084,-2.000, RAW= 44.3, 50.8, CAL= 41.6, 55.5, ROT= 108.4, -55.5
2025-06-05T06:05:35.090Z,1749103535.090 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-05T06:05:35.091Z,1749103535.091 [DAT](INFO): direction in FSK: [-0.178786,0.537449,0.824126]
2025-06-05T06:05:35.091Z,1749103535.091 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:35.471Z,1749103535.471 [DockingStepper](INFO): Stopping
2025-06-05T06:05:35.584Z,1749103535.584 [DAT](INFO): DAT read: Rx Time:06:05:34.3026
2025-06-05T06:05:35.584Z,1749103535.584 [DAT](INFO): Rx dataTimestamp_ set to:1749103535.583862
2025-06-05T06:05:35.585Z,1749103535.585 [DAT](INFO): DAT read: Bearing 110.2, -55.5 (Local)
2025-06-05T06:05:35.586Z,1749103535.586 [DAT](INFO): Local bearing/azimuth received:
Bearing 110.2, -55.5 (Local)
2025-06-05T06:05:35.588Z,1749103535.588 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:35.592Z,1749103535.592 [DAT](INFO): DAT read: 06:05:34.3026 LVL= 10784, 15265, 10290, 9763, AGC= 25, IDX= 509, 0.35, 0.198,-0.038,-0.922, 1.068, PHS=-0.782,-1.059,-1.993, RAW= 42.6, 51.0, CAL= 39.8, 55.5, ROT= 110.2, -55.5
2025-06-05T06:05:35.593Z,1749103535.593 [DAT](INFO): got valid direction response:
06:05:34.3026 LVL= 10784, 15265, 10290, 9763, AGC= 25, IDX= 509, 0.35, 0.198,-0.038,-0.922, 1.068, PHS=-0.782,-1.059,-1.993, RAW= 42.6, 51.0, CAL= 39.8, 55.5, ROT= 110.2, -55.5
2025-06-05T06:05:35.594Z,1749103535.594 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-06-05T06:05:35.596Z,1749103535.596 [DAT](INFO): direction in FSK: [-0.195579,0.531568,0.824126]
2025-06-05T06:05:35.597Z,1749103535.597 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:35.822Z,1749103535.822 [DockingStepper](INFO): Stopping
2025-06-05T06:05:35.838Z,1749103535.838 [DAT](INFO): DAT read: Rx Time:06:05:34.8027
2025-06-05T06:05:35.839Z,1749103535.839 [DAT](INFO): Rx dataTimestamp_ set to:1749103535.838275
2025-06-05T06:05:36.088Z,1749103536.088 [DAT](INFO): DAT read: Bearing 111.2, -53.4 (Local)
2025-06-05T06:05:36.088Z,1749103536.088 [DAT](INFO): Local bearing/azimuth received:
Bearing 111.2, -53.4 (Local)
2025-06-05T06:05:36.090Z,1749103536.090 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:36.096Z,1749103536.096 [DAT](INFO): DAT read: 06:05:34.8027 LVL= 10864, 12881, 9634, 10467, AGC= 24, IDX= 510, 0.48, 0.554, 0.321,-0.626, 1.366, PHS=-0.725,-0.999,-1.995, RAW= 41.8, 48.6, CAL= 38.8, 53.4, ROT= 111.2, -53.4
2025-06-05T06:05:36.097Z,1749103536.097 [DAT](INFO): got valid direction response:
06:05:34.8027 LVL= 10864, 12881, 9634, 10467, AGC= 24, IDX= 510, 0.48, 0.554, 0.321,-0.626, 1.366, PHS=-0.725,-0.999,-1.995, RAW= 41.8, 48.6, CAL= 38.8, 53.4, ROT= 111.2, -53.4
2025-06-05T06:05:36.097Z,1749103536.097 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-06-05T06:05:36.099Z,1749103536.099 [DAT](INFO): direction in FSK: [-0.215610,0.555875,0.802817]
2025-06-05T06:05:36.099Z,1749103536.099 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:36.248Z,1749103536.248 [DockingStepper](INFO): Stopping
2025-06-05T06:05:36.344Z,1749103536.344 [DAT](INFO): DAT read: Rx Time:06:05:35.3026
2025-06-05T06:05:36.345Z,1749103536.345 [DAT](INFO): Rx dataTimestamp_ set to:1749103536.344351
2025-06-05T06:05:36.356Z,1749103536.356 [DAT](INFO): DAT read: Bearing 111.5, -51.4 (Local)
2025-06-05T06:05:36.357Z,1749103536.357 [DAT](INFO): Local bearing/azimuth received:
Bearing 111.5, -51.4 (Local)
2025-06-05T06:05:36.361Z,1749103536.361 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:36.365Z,1749103536.365 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-06-05T06:05:36.595Z,1749103536.595 [DAT](INFO): DAT read: 06:05:35.3026 LVL= 12752, 12097, 13810, 10915, AGC= 26, IDX= 510,-0.44,-1.228,-1.469,-2.448,-0.488, PHS=-0.652,-0.934,-1.963, RAW= 41.8, 46.4, CAL= 38.5, 51.4, ROT= 111.5, -51.4
2025-06-05T06:05:36.596Z,1749103536.596 [DAT](INFO): got valid direction response:
06:05:35.3026 LVL= 12752, 12097, 13810, 10915, AGC= 26, IDX= 510,-0.44,-1.228,-1.469,-2.448,-0.488, PHS=-0.652,-0.934,-1.963, RAW= 41.8, 46.4, CAL= 38.5, 51.4, ROT= 111.5, -51.4
2025-06-05T06:05:36.596Z,1749103536.596 [DAT](INFO): #Rx 82: Read direction message, but no range.
2025-06-05T06:05:36.597Z,1749103536.597 [DAT](INFO): direction in FSK: [-0.228653,0.580469,0.781520]
2025-06-05T06:05:36.748Z,1749103536.748 [DockingStepper](INFO): Stopping
2025-06-05T06:05:36.846Z,1749103536.846 [DAT](INFO): DAT read: Rx Time:06:05:35.8027
2025-06-05T06:05:36.848Z,1749103536.848 [DAT](INFO): Rx dataTimestamp_ set to:1749103536.846691
2025-06-05T06:05:36.851Z,1749103536.851 [DAT](INFO): DAT read: Bearing 113.2, -51.0 (Local)
2025-06-05T06:05:36.852Z,1749103536.852 [DAT](INFO): Local bearing/azimuth received:
Bearing 113.2, -51.0 (Local)
2025-06-05T06:05:37.013Z,1749103537.013 [DockingStepper](INFO): Stopping
2025-06-05T06:05:37.096Z,1749103537.096 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:37.101Z,1749103537.101 [DAT](INFO): DAT read: 06:05:35.8027 LVL= 12992, 9281, 13042, 10483, AGC= 26, IDX= 511,-0.47, 0.676, 0.472,-0.535, 1.420, PHS=-0.655,-0.901,-1.957, RAW= 40.2, 46.0, CAL= 36.8, 51.0, ROT= 113.2, -51.0
2025-06-05T06:05:37.103Z,1749103537.103 [DAT](INFO): got valid direction response:
06:05:35.8027 LVL= 12992, 9281, 13042, 10483, AGC= 26, IDX= 511,-0.47, 0.676, 0.472,-0.535, 1.420, PHS=-0.655,-0.901,-1.957, RAW= 40.2, 46.0, CAL= 36.8, 51.0, ROT= 113.2, -51.0
2025-06-05T06:05:37.103Z,1749103537.103 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-06-05T06:05:37.104Z,1749103537.104 [DAT](INFO): direction in FSK: [-0.247916,0.578431,0.777146]
2025-06-05T06:05:37.104Z,1749103537.104 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:37.350Z,1749103537.350 [DAT](INFO): DAT read: Rx Time:06:05:36.3027
2025-06-05T06:05:37.351Z,1749103537.351 [DAT](INFO): Rx dataTimestamp_ set to:1749103537.350188
2025-06-05T06:05:37.353Z,1749103537.353 [DAT](INFO): DAT read: Bearing 129.0, -51.5 (Local)
2025-06-05T06:05:37.354Z,1749103537.354 [DAT](INFO): Local bearing/azimuth received:
Bearing 129.0, -51.5 (Local)
2025-06-05T06:05:37.567Z,1749103537.567 [DockingStepper](INFO): Stopping
2025-06-05T06:05:37.601Z,1749103537.601 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:37.606Z,1749103537.606 [DAT](INFO): DAT read: 06:05:36.3027 LVL= 14528, 7841, 12722, 10099, AGC= 26, IDX= 509, 0.37, 2.912, 3.056, 1.942,-2.458, PHS=-0.825,-0.722,-1.886, RAW= 25.4, 47.4, CAL= 21.0, 51.5, ROT= 129.0, -51.5
2025-06-05T06:05:37.607Z,1749103537.607 [DAT](INFO): got valid direction response:
06:05:36.3027 LVL= 14528, 7841, 12722, 10099, AGC= 26, IDX= 509, 0.37, 2.912, 3.056, 1.942,-2.458, PHS=-0.825,-0.722,-1.886, RAW= 25.4, 47.4, CAL= 21.0, 51.5, ROT= 129.0, -51.5
2025-06-05T06:05:37.607Z,1749103537.607 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-06-05T06:05:37.608Z,1749103537.608 [DAT](INFO): direction in FSK: [-0.391761,0.483785,0.782608]
2025-06-05T06:05:37.608Z,1749103537.608 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:37.819Z,1749103537.819 [DockingStepper](INFO): Stopping
2025-06-05T06:05:37.851Z,1749103537.851 [DAT](INFO): DAT read: Rx Time:06:05:36.8027
2025-06-05T06:05:37.852Z,1749103537.852 [DAT](INFO): Rx dataTimestamp_ set to:1749103537.851312
2025-06-05T06:05:38.104Z,1749103538.104 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:38.104Z,1749103538.104 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-06-05T06:05:38.238Z,1749103538.238 [DockingStepper](INFO): Stopping
2025-06-05T06:05:38.355Z,1749103538.355 [DAT](INFO): DAT read: Rx Time:06:05:37.3026
2025-06-05T06:05:38.356Z,1749103538.356 [DAT](INFO): Rx dataTimestamp_ set to:1749103538.355434
2025-06-05T06:05:38.357Z,1749103538.357 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:38.357Z,1749103538.357 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-06-05T06:05:38.661Z,1749103538.661 [DockingStepper](INFO): Stopping
2025-06-05T06:05:38.860Z,1749103538.860 [DAT](INFO): DAT read: Rx Time:06:05:37.8027
2025-06-05T06:05:38.861Z,1749103538.861 [DAT](INFO): Rx dataTimestamp_ set to:1749103538.860585
2025-06-05T06:05:38.862Z,1749103538.862 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:38.863Z,1749103538.863 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-06-05T06:05:39.006Z,1749103539.006 [DockingStepper](INFO): Stopping
2025-06-05T06:05:39.368Z,1749103539.368 [DAT](INFO): DAT read: Rx Time:06:05:38.3026
2025-06-05T06:05:39.368Z,1749103539.368 [DAT](INFO): Rx dataTimestamp_ set to:1749103539.367938
2025-06-05T06:05:39.369Z,1749103539.369 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:39.370Z,1749103539.370 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-06-05T06:05:39.532Z,1749103539.532 [DockingStepper](INFO): Stopping
2025-06-05T06:05:39.871Z,1749103539.871 [DAT](INFO): DAT read: Rx Time:06:05:38.8027
2025-06-05T06:05:39.872Z,1749103539.872 [DAT](INFO): Rx dataTimestamp_ set to:1749103539.871486
2025-06-05T06:05:39.873Z,1749103539.873 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:39.874Z,1749103539.874 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-06-05T06:05:39.880Z,1749103539.880 [DockingStepper](INFO): Stopping
2025-06-05T06:05:40.212Z,1749103540.212 [DockingStepper](INFO): Stopping
2025-06-05T06:05:40.376Z,1749103540.376 [DAT](INFO): DAT read: Rx Time:06:05:39.3026
2025-06-05T06:05:40.377Z,1749103540.377 [DAT](INFO): Rx dataTimestamp_ set to:1749103540.376438
2025-06-05T06:05:40.378Z,1749103540.378 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:40.379Z,1749103540.379 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-06-05T06:05:40.658Z,1749103540.658 [DockingStepper](INFO): Stopping
2025-06-05T06:05:40.879Z,1749103540.879 [DAT](INFO): DAT read: Rx Time:06:05:39.8027
2025-06-05T06:05:40.880Z,1749103540.880 [DAT](INFO): Rx dataTimestamp_ set to:1749103540.879646
2025-06-05T06:05:40.881Z,1749103540.881 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:40.882Z,1749103540.882 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-06-05T06:05:41.043Z,1749103541.043 [DockingStepper](INFO): Stopping
2025-06-05T06:05:41.387Z,1749103541.387 [DAT](INFO): DAT read: Rx Time:06:05:40.3026
2025-06-05T06:05:41.388Z,1749103541.388 [DAT](INFO): Rx dataTimestamp_ set to:1749103541.387292
2025-06-05T06:05:41.389Z,1749103541.389 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:41.389Z,1749103541.389 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-06-05T06:05:41.531Z,1749103541.531 [DockingStepper](INFO): Stopping
2025-06-05T06:05:41.866Z,1749103541.866 [DockingStepper](INFO): Stopping
2025-06-05T06:05:41.891Z,1749103541.891 [DAT](INFO): DAT read: Rx Time:06:05:40.8026
2025-06-05T06:05:41.892Z,1749103541.892 [DAT](INFO): Rx dataTimestamp_ set to:1749103541.891577
2025-06-05T06:05:41.894Z,1749103541.894 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:41.895Z,1749103541.895 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-06-05T06:05:42.265Z,1749103542.265 [DockingStepper](INFO): Stopping
2025-06-05T06:05:42.395Z,1749103542.395 [DAT](INFO): DAT read: Rx Time:06:05:41.3025
2025-06-05T06:05:42.396Z,1749103542.396 [DAT](INFO): Rx dataTimestamp_ set to:1749103542.395504
2025-06-05T06:05:42.397Z,1749103542.397 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:42.398Z,1749103542.398 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-06-05T06:05:42.705Z,1749103542.705 [DockingStepper](INFO): Stopping
2025-06-05T06:05:42.899Z,1749103542.899 [DAT](INFO): DAT read: Rx Time:06:05:41.8027
2025-06-05T06:05:42.900Z,1749103542.900 [DAT](INFO): Rx dataTimestamp_ set to:1749103542.899477
2025-06-05T06:05:42.901Z,1749103542.901 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:42.901Z,1749103542.901 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-06-05T06:05:43.062Z,1749103543.062 [DockingStepper](INFO): Stopping
2025-06-05T06:05:43.408Z,1749103543.408 [DAT](INFO): DAT read: Rx Time:06:05:42.3026
2025-06-05T06:05:43.408Z,1749103543.408 [DAT](INFO): Rx dataTimestamp_ set to:1749103543.408038
2025-06-05T06:05:43.411Z,1749103543.411 [DAT](INFO): DAT read: Bearing 109.4, -57.3 (Local)
2025-06-05T06:05:43.412Z,1749103543.412 [DAT](INFO): Local bearing/azimuth received:
Bearing 109.4, -57.3 (Local)
2025-06-05T06:05:43.414Z,1749103543.414 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:43.419Z,1749103543.419 [DAT](INFO): DAT read: 06:05:42.3026 LVL= 11712, 8785, 11426, 9363, AGC= 25, IDX= 508, 0.18,-1.287,-1.508,-2.290,-0.417, PHS=-0.781,-1.044,-1.876, RAW= 43.3, 52.9, CAL= 40.6, 57.3, ROT= 109.4, -57.3
2025-06-05T06:05:43.420Z,1749103543.420 [DAT](INFO): got valid direction response:
06:05:42.3026 LVL= 11712, 8785, 11426, 9363, AGC= 25, IDX= 508, 0.18,-1.287,-1.508,-2.290,-0.417, PHS=-0.781,-1.044,-1.876, RAW= 43.3, 52.9, CAL= 40.6, 57.3, ROT= 109.4, -57.3
2025-06-05T06:05:43.420Z,1749103543.420 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-06-05T06:05:43.421Z,1749103543.421 [DAT](INFO): direction in FSK: [-0.179447,0.509567,0.841511]
2025-06-05T06:05:43.421Z,1749103543.421 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:43.602Z,1749103543.602 [DockingStepper](INFO): Stopping
2025-06-05T06:05:43.912Z,1749103543.912 [DAT](INFO): DAT read: Rx Time:06:05:42.8027
2025-06-05T06:05:43.913Z,1749103543.913 [DAT](INFO): Rx dataTimestamp_ set to:1749103543.912300
2025-06-05T06:05:43.914Z,1749103543.914 [DAT](INFO): DAT read: Bearing 110.7, -55.8 (Local)
2025-06-05T06:05:43.914Z,1749103543.914 [DAT](INFO): Local bearing/azimuth received:
Bearing 110.7, -55.8 (Local)
2025-06-05T06:05:43.916Z,1749103543.916 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:43.921Z,1749103543.921 [DAT](INFO): DAT read: 06:05:42.8027 LVL= 11152, 12817, 11458, 10899, AGC= 26, IDX= 509, 0.31,-0.849,-1.062,-1.902,-0.002, PHS=-0.759,-1.013,-1.903, RAW= 42.2, 51.3, CAL= 39.3, 55.8, ROT= 110.7, -55.8
2025-06-05T06:05:43.922Z,1749103543.922 [DAT](INFO): got valid direction response:
06:05:42.8027 LVL= 11152, 12817, 11458, 10899, AGC= 26, IDX= 509, 0.31,-0.849,-1.062,-1.902,-0.002, PHS=-0.759,-1.013,-1.903, RAW= 42.2, 51.3, CAL= 39.3, 55.8, ROT= 110.7, -55.8
2025-06-05T06:05:43.922Z,1749103543.922 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-06-05T06:05:43.923Z,1749103543.923 [DAT](INFO): direction in FSK: [-0.198682,0.525798,0.827081]
2025-06-05T06:05:43.924Z,1749103543.924 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:44.077Z,1749103544.077 [DockingStepper](INFO): Stopping
2025-06-05T06:05:44.264Z,1749103544.264 [DockingStepper](INFO): Stopping
2025-06-05T06:05:44.416Z,1749103544.416 [DAT](INFO): DAT read: Rx Time:06:05:43.3026
2025-06-05T06:05:44.416Z,1749103544.416 [DAT](INFO): Rx dataTimestamp_ set to:1749103544.415860
2025-06-05T06:05:44.417Z,1749103544.417 [DAT](INFO): DAT read: Bearing 108.2, -56.5 (Local)
2025-06-05T06:05:44.418Z,1749103544.418 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.2, -56.5 (Local)
2025-06-05T06:05:44.420Z,1749103544.420 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:44.424Z,1749103544.424 [DAT](INFO): DAT read: 06:05:43.3026 LVL= 9872, 14369, 10290, 10179, AGC= 25, IDX= 508, 0.40,-2.786,-3.045, 2.427,-1.924, PHS=-0.774,-1.074,-1.935, RAW= 44.4, 52.0, CAL= 41.8, 56.5, ROT= 108.2, -56.5
2025-06-05T06:05:44.429Z,1749103544.429 [DAT](INFO): got valid direction response:
06:05:43.3026 LVL= 9872, 14369, 10290, 10179, AGC= 25, IDX= 508, 0.40,-2.786,-3.045, 2.427,-1.924, PHS=-0.774,-1.074,-1.935, RAW= 44.4, 52.0, CAL= 41.8, 56.5, ROT= 108.2, -56.5
2025-06-05T06:05:44.430Z,1749103544.430 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-06-05T06:05:44.431Z,1749103544.431 [DAT](INFO): direction in FSK: [-0.172389,0.524325,0.833886]
2025-06-05T06:05:44.431Z,1749103544.431 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:44.714Z,1749103544.714 [DockingStepper](INFO): Stopping
2025-06-05T06:05:44.920Z,1749103544.920 [DAT](INFO): DAT read: Rx Time:06:05:43.8026
2025-06-05T06:05:44.920Z,1749103544.920 [DAT](INFO): Rx dataTimestamp_ set to:1749103544.919903
2025-06-05T06:05:44.921Z,1749103544.921 [DAT](INFO): DAT read: Bearing 108.1, -55.7 (Local)
2025-06-05T06:05:44.922Z,1749103544.922 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.1, -55.7 (Local)
2025-06-05T06:05:44.924Z,1749103544.924 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:44.933Z,1749103544.933 [DAT](INFO): DAT read: 06:05:43.8026 LVL= 10384, 14225, 10946, 10259, AGC= 25, IDX= 508, 0.47,-2.869,-3.139, 2.316,-2.032, PHS=-0.749,-1.060,-1.938, RAW= 44.6, 51.1, CAL= 41.9, 55.7, ROT= 108.1, -55.7
2025-06-05T06:05:44.935Z,1749103544.935 [DAT](INFO): got valid direction response:
06:05:43.8026 LVL= 10384, 14225, 10946, 10259, AGC= 25, IDX= 508, 0.47,-2.869,-3.139, 2.316,-2.032, PHS=-0.749,-1.060,-1.938, RAW= 44.6, 51.1, CAL= 41.9, 55.7, ROT= 108.1, -55.7
2025-06-05T06:05:44.936Z,1749103544.936 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-06-05T06:05:44.940Z,1749103544.940 [DAT](INFO): direction in FSK: [-0.175074,0.535640,0.826098]
2025-06-05T06:05:44.941Z,1749103544.941 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:45.113Z,1749103545.113 [DockingStepper](INFO): Stopping
2025-06-05T06:05:45.427Z,1749103545.427 [DAT](INFO): DAT read: Rx Time:06:05:44.3025
2025-06-05T06:05:45.428Z,1749103545.428 [DAT](INFO): Rx dataTimestamp_ set to:1749103545.427372
2025-06-05T06:05:45.429Z,1749103545.429 [DAT](INFO): DAT read: Bearing 106.5, -55.5 (Local)
2025-06-05T06:05:45.429Z,1749103545.429 [DAT](INFO): Local bearing/azimuth received:
Bearing 106.5, -55.5 (Local)
2025-06-05T06:05:45.439Z,1749103545.439 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:45.446Z,1749103545.446 [DAT](INFO): DAT read: 06:05:44.3025 LVL= 9504, 15761, 9970, 10179, AGC= 25, IDX= 508,-0.46, 1.351, 1.041, 0.215, 2.179, PHS=-0.740,-1.091,-1.967, RAW= 46.1, 50.8, CAL= 43.5, 55.5, ROT= 106.5, -55.5
2025-06-05T06:05:45.455Z,1749103545.455 [DAT](INFO): got valid direction response:
06:05:44.3025 LVL= 9504, 15761, 9970, 10179, AGC= 25, IDX= 508,-0.46, 1.351, 1.041, 0.215, 2.179, PHS=-0.740,-1.091,-1.967, RAW= 46.1, 50.8, CAL= 43.5, 55.5, ROT= 106.5, -55.5
2025-06-05T06:05:45.455Z,1749103545.455 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-06-05T06:05:45.456Z,1749103545.456 [DAT](INFO): direction in FSK: [-0.160868,0.543081,0.824126]
2025-06-05T06:05:45.457Z,1749103545.457 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:45.775Z,1749103545.775 [DockingStepper](INFO): Stopping
2025-06-05T06:05:45.932Z,1749103545.932 [DAT](INFO): DAT read: Rx Time:06:05:44.8026
2025-06-05T06:05:45.932Z,1749103545.932 [DAT](INFO): Rx dataTimestamp_ set to:1749103545.931925
2025-06-05T06:05:45.933Z,1749103545.933 [DAT](INFO): DAT read: Bearing 106.9, -53.5 (Local)
2025-06-05T06:05:45.934Z,1749103545.934 [DAT](INFO): Local bearing/azimuth received:
Bearing 106.9, -53.5 (Local)
2025-06-05T06:05:45.936Z,1749103545.936 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:45.940Z,1749103545.940 [DAT](INFO): DAT read: 06:05:44.8026 LVL= 10736, 14289, 10962, 10099, AGC= 25, IDX= 509,-0.36, 1.670, 1.347, 0.477, 2.434, PHS=-0.676,-1.040,-1.960, RAW= 46.0, 48.6, CAL= 43.1, 53.5, ROT= 106.9, -53.5
2025-06-05T06:05:45.941Z,1749103545.941 [DAT](INFO): got valid direction response:
06:05:44.8026 LVL= 10736, 14289, 10962, 10099, AGC= 25, IDX= 509,-0.36, 1.670, 1.347, 0.477, 2.434, PHS=-0.676,-1.040,-1.960, RAW= 46.0, 48.6, CAL= 43.1, 53.5, ROT= 106.9, -53.5
2025-06-05T06:05:45.943Z,1749103545.943 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-06-05T06:05:45.944Z,1749103545.944 [DAT](INFO): direction in FSK: [-0.172916,0.569135,0.803857]
2025-06-05T06:05:45.944Z,1749103545.944 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:45.999Z,1749103545.999 [DockingStepper](INFO): Stopping
2025-06-05T06:05:46.316Z,1749103546.316 [DockingStepper](INFO): Stopping
2025-06-05T06:05:46.436Z,1749103546.436 [DAT](INFO): DAT read: Rx Time:06:05:45.3026
2025-06-05T06:05:46.436Z,1749103546.436 [DAT](INFO): Rx dataTimestamp_ set to:1749103546.435927
2025-06-05T06:05:46.437Z,1749103546.437 [DAT](INFO): DAT read: Bearing 109.0, -51.3 (Local)
2025-06-05T06:05:46.438Z,1749103546.438 [DAT](INFO): Local bearing/azimuth received:
Bearing 109.0, -51.3 (Local)
2025-06-05T06:05:46.440Z,1749103546.440 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:46.445Z,1749103546.445 [DAT](INFO): DAT read: 06:05:45.3026 LVL= 10784, 12273, 12754, 11219, AGC= 26, IDX= 508,-0.26, 0.427, 0.132,-0.812, 1.137, PHS=-0.622,-0.958,-1.952, RAW= 44.1, 46.2, CAL= 41.0, 51.3, ROT= 109.0, -51.3
2025-06-05T06:05:46.449Z,1749103546.449 [DAT](INFO): got valid direction response:
06:05:45.3026 LVL= 10784, 12273, 12754, 11219, AGC= 26, IDX= 508,-0.26, 0.427, 0.132,-0.812, 1.137, PHS=-0.622,-0.958,-1.952, RAW= 44.1, 46.2, CAL= 41.0, 51.3, ROT= 109.0, -51.3
2025-06-05T06:05:46.449Z,1749103546.449 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-06-05T06:05:46.472Z,1749103546.472 [DAT](INFO): direction in FSK: [-0.203559,0.591179,0.780430]
2025-06-05T06:05:46.472Z,1749103546.472 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:46.745Z,1749103546.745 [DockingStepper](INFO): Stopping
2025-06-05T06:05:46.940Z,1749103546.940 [DAT](INFO): DAT read: Rx Time:06:05:45.8027
2025-06-05T06:05:46.940Z,1749103546.940 [DAT](INFO): Rx dataTimestamp_ set to:1749103546.940134
2025-06-05T06:05:46.942Z,1749103546.942 [DAT](INFO): DAT read: Bearing 107.9, -52.7 (Local)
2025-06-05T06:05:46.943Z,1749103546.943 [DAT](INFO): Local bearing/azimuth received:
Bearing 107.9, -52.7 (Local)
2025-06-05T06:05:46.945Z,1749103546.945 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:46.950Z,1749103546.950 [DAT](INFO): DAT read: 06:05:45.8027 LVL= 11504, 13089, 11554, 10115, AGC= 25, IDX= 509,-0.23, 1.488, 1.181, 0.280, 2.231, PHS=-0.655,-1.003,-1.954, RAW= 45.0, 47.6, CAL= 42.1, 52.7, ROT= 107.9, -52.7
2025-06-05T06:05:46.951Z,1749103546.951 [DAT](INFO): got valid direction response:
06:05:45.8027 LVL= 11504, 13089, 11554, 10115, AGC= 25, IDX= 509,-0.23, 1.488, 1.181, 0.280, 2.231, PHS=-0.655,-1.003,-1.954, RAW= 45.0, 47.6, CAL= 42.1, 52.7, ROT= 107.9, -52.7
2025-06-05T06:05:46.952Z,1749103546.952 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-06-05T06:05:46.953Z,1749103546.953 [DAT](INFO): direction in FSK: [-0.186255,0.576655,0.795473]
2025-06-05T06:05:46.953Z,1749103546.953 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:47.139Z,1749103547.139 [DockingStepper](INFO): Stopping
2025-06-05T06:05:47.452Z,1749103547.452 [DAT](INFO): DAT read: Rx Time:06:05:46.3026
2025-06-05T06:05:47.452Z,1749103547.452 [DAT](INFO): Rx dataTimestamp_ set to:1749103547.452198
2025-06-05T06:05:47.454Z,1749103547.454 [DAT](INFO): DAT read: Bearing 108.2, -52.3 (Local)
2025-06-05T06:05:47.454Z,1749103547.454 [DAT](INFO): Local bearing/azimuth received:
Bearing 108.2, -52.3 (Local)
2025-06-05T06:05:47.456Z,1749103547.456 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:47.465Z,1749103547.465 [DAT](INFO): DAT read: 06:05:46.3026 LVL= 11824, 12369, 11698, 10035, AGC= 25, IDX= 508,-0.18, 0.234,-0.072,-0.984, 0.965, PHS=-0.644,-0.990,-1.952, RAW= 44.8, 47.2, CAL= 41.8, 52.3, ROT= 108.2, -52.3
2025-06-05T06:05:47.485Z,1749103547.485 [DAT](INFO): got valid direction response:
06:05:46.3026 LVL= 11824, 12369, 11698, 10035, AGC= 25, IDX= 508,-0.18, 0.234,-0.072,-0.984, 0.965, PHS=-0.644,-0.990,-1.952, RAW= 44.8, 47.2, CAL= 41.8, 52.3, ROT= 108.2, -52.3
2025-06-05T06:05:47.485Z,1749103547.485 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-06-05T06:05:47.496Z,1749103547.496 [DAT](INFO): direction in FSK: [-0.191001,0.580934,0.791224]
2025-06-05T06:05:47.496Z,1749103547.496 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:47.648Z,1749103547.648 [DockingStepper](INFO): Stopping
2025-06-05T06:05:47.956Z,1749103547.956 [DAT](INFO): DAT read: Rx Time:06:05:46.8027
2025-06-05T06:05:47.956Z,1749103547.956 [DAT](INFO): Rx dataTimestamp_ set to:1749103547.956029
2025-06-05T06:05:47.958Z,1749103547.958 [DAT](INFO): DAT read: Bearing 109.0, -52.9 (Local)
2025-06-05T06:05:47.958Z,1749103547.958 [DAT](INFO): Local bearing/azimuth received:
Bearing 109.0, -52.9 (Local)
2025-06-05T06:05:47.961Z,1749103547.961 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:47.967Z,1749103547.967 [DAT](INFO): DAT read: 06:05:46.8027 LVL= 11408, 13473, 12018, 11203, AGC= 26, IDX= 509,-0.14, 2.082, 1.801, 0.894, 2.840, PHS=-0.670,-0.992,-1.949, RAW= 44.0, 47.9, CAL= 41.0, 52.9, ROT= 109.0, -52.9
2025-06-05T06:05:47.968Z,1749103547.968 [DAT](INFO): got valid direction response:
06:05:46.8027 LVL= 11408, 13473, 12018, 11203, AGC= 26, IDX= 509,-0.14, 2.082, 1.801, 0.894, 2.840, PHS=-0.670,-0.992,-1.949, RAW= 44.0, 47.9, CAL= 41.0, 52.9, ROT= 109.0, -52.9
2025-06-05T06:05:47.968Z,1749103547.968 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-06-05T06:05:47.969Z,1749103547.969 [DAT](INFO): direction in FSK: [-0.196385,0.570344,0.797584]
2025-06-05T06:05:47.969Z,1749103547.969 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:47.989Z,1749103547.989 [DockingStepper](INFO): Stopping
2025-06-05T06:05:48.339Z,1749103548.339 [DockingStepper](INFO): Stopping
2025-06-05T06:05:48.461Z,1749103548.461 [DAT](INFO): DAT read: Rx Time:06:05:47.3026
2025-06-05T06:05:48.461Z,1749103548.461 [DAT](INFO): Rx dataTimestamp_ set to:1749103548.461143
2025-06-05T06:05:48.463Z,1749103548.463 [DAT](INFO): DAT read: Bearing 111.1, -50.5 (Local)
2025-06-05T06:05:48.463Z,1749103548.463 [DAT](INFO): Local bearing/azimuth received:
Bearing 111.1, -50.5 (Local)
2025-06-05T06:05:48.465Z,1749103548.465 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:48.495Z,1749103548.495 [DAT](INFO): DAT read: 06:05:47.3026 LVL= 10688, 10321, 10866, 9891, AGC= 25, IDX= 508,-0.08, 0.798, 0.542,-0.445, 1.500, PHS=-0.615,-0.911,-1.948, RAW= 42.2, 45.4, CAL= 38.9, 50.5, ROT= 111.1, -50.5
2025-06-05T06:05:48.497Z,1749103548.497 [DAT](INFO): got valid direction response:
06:05:47.3026 LVL= 10688, 10321, 10866, 9891, AGC= 25, IDX= 508,-0.08, 0.798, 0.542,-0.445, 1.500, PHS=-0.615,-0.911,-1.948, RAW= 42.2, 45.4, CAL= 38.9, 50.5, ROT= 111.1, -50.5
2025-06-05T06:05:48.497Z,1749103548.497 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-06-05T06:05:48.516Z,1749103548.516 [DAT](INFO): direction in FSK: [-0.228986,0.593431,0.771625]
2025-06-05T06:05:48.516Z,1749103548.516 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:48.758Z,1749103548.758 [DockingStepper](INFO): Stopping
2025-06-05T06:05:48.964Z,1749103548.964 [DAT](INFO): DAT read: Rx Time:06:05:47.8027
2025-06-05T06:05:48.964Z,1749103548.964 [DAT](INFO): Rx dataTimestamp_ set to:1749103548.963907
2025-06-05T06:05:48.965Z,1749103548.965 [DAT](INFO): DAT read: Bearing 110.6, -50.2 (Local)
2025-06-05T06:05:48.966Z,1749103548.966 [DAT](INFO): Local bearing/azimuth received:
Bearing 110.6, -50.2 (Local)
2025-06-05T06:05:48.968Z,1749103548.968 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:48.973Z,1749103548.973 [DAT](INFO): DAT read: 06:05:47.8027 LVL= 11312, 10689, 13538, 11027, AGC= 26, IDX= 508,-0.05, 0.600, 0.330,-0.657, 1.287, PHS=-0.599,-0.910,-1.948, RAW= 42.7, 45.0, CAL= 39.4, 50.2, ROT= 110.6, -50.2
2025-06-05T06:05:48.974Z,1749103548.974 [DAT](INFO): got valid direction response:
06:05:47.8027 LVL= 11312, 10689, 13538, 11027, AGC= 26, IDX= 508,-0.05, 0.600, 0.330,-0.657, 1.287, PHS=-0.599,-0.910,-1.948, RAW= 42.7, 45.0, CAL= 39.4, 50.2, ROT= 110.6, -50.2
2025-06-05T06:05:48.974Z,1749103548.974 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-06-05T06:05:48.976Z,1749103548.976 [DAT](INFO): direction in FSK: [-0.225217,0.599181,0.768284]
2025-06-05T06:05:48.977Z,1749103548.977 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:49.149Z,1749103549.149 [DockingStepper](INFO): Stopping
2025-06-05T06:05:49.469Z,1749103549.469 [DAT](INFO): DAT read: Rx Time:06:05:48.3026
2025-06-05T06:05:49.470Z,1749103549.470 [DAT](INFO): Rx dataTimestamp_ set to:1749103549.469448
2025-06-05T06:05:49.472Z,1749103549.472 [DAT](INFO): DAT read: Bearing 109.8, -52.8 (Local)
2025-06-05T06:05:49.473Z,1749103549.473 [DAT](INFO): Local bearing/azimuth received:
Bearing 109.8, -52.8 (Local)
2025-06-05T06:05:49.483Z,1749103549.483 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:49.503Z,1749103549.503 [DAT](INFO): DAT read: 06:05:48.3026 LVL= 12400, 11681, 12274, 9939, AGC= 25, IDX= 507,-0.03, 0.037,-0.227,-1.145, 0.799, PHS=-0.675,-0.979,-1.948, RAW= 43.2, 47.9, CAL= 40.2, 52.8, ROT= 109.8, -52.8
2025-06-05T06:05:49.504Z,1749103549.504 [DAT](INFO): got valid direction response:
06:05:48.3026 LVL= 12400, 11681, 12274, 9939, AGC= 25, IDX= 507,-0.03, 0.037,-0.227,-1.145, 0.799, PHS=-0.675,-0.979,-1.948, RAW= 43.2, 47.9, CAL= 40.2, 52.8, ROT= 109.8, -52.8
2025-06-05T06:05:49.505Z,1749103549.505 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-06-05T06:05:49.519Z,1749103549.519 [DAT](INFO): direction in FSK: [-0.204801,0.568856,0.796530]
2025-06-05T06:05:49.519Z,1749103549.519 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:49.680Z,1749103549.680 [DockingStepper](INFO): Stopping
2025-06-05T06:05:49.972Z,1749103549.972 [DAT](INFO): DAT read: Rx Time:06:05:48.8027
2025-06-05T06:05:49.972Z,1749103549.972 [DAT](INFO): Rx dataTimestamp_ set to:1749103549.971876
2025-06-05T06:05:49.973Z,1749103549.973 [DAT](INFO): DAT read: Bearing 111.9, -51.0 (Local)
2025-06-05T06:05:49.974Z,1749103549.974 [DAT](INFO): Local bearing/azimuth received:
Bearing 111.9, -51.0 (Local)
2025-06-05T06:05:49.977Z,1749103549.977 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:49.982Z,1749103549.982 [DAT](INFO): DAT read: 06:05:48.8027 LVL= 11536, 9809, 13810, 10803, AGC= 26, IDX= 508, 0.01, 1.843, 1.614, 0.633, 2.565, PHS=-0.634,-0.904,-1.935, RAW= 41.4, 45.9, CAL= 38.1, 51.0, ROT= 111.9, -51.0
2025-06-05T06:05:49.984Z,1749103549.984 [DAT](INFO): got valid direction response:
06:05:48.8027 LVL= 11536, 9809, 13810, 10803, AGC= 26, IDX= 508, 0.01, 1.843, 1.614, 0.633, 2.565, PHS=-0.634,-0.904,-1.935, RAW= 41.4, 45.9, CAL= 38.1, 51.0, ROT= 111.9, -51.0
2025-06-05T06:05:49.984Z,1749103549.984 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-05T06:05:49.985Z,1749103549.985 [DAT](INFO): direction in FSK: [-0.234729,0.583906,0.777146]
2025-06-05T06:05:49.985Z,1749103549.985 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:50.180Z,1749103550.180 [DockingStepper](INFO): Stopping
2025-06-05T06:05:50.381Z,1749103550.381 [DockingStepper](INFO): Stopping
2025-06-05T06:05:50.477Z,1749103550.477 [DAT](INFO): DAT read: Rx Time:06:05:49.3026
2025-06-05T06:05:50.477Z,1749103550.477 [DAT](INFO): Rx dataTimestamp_ set to:1749103550.477089
2025-06-05T06:05:50.479Z,1749103550.479 [DAT](INFO): DAT read: Bearing 112.5, -51.6 (Local)
2025-06-05T06:05:50.479Z,1749103550.479 [DAT](INFO): Local bearing/azimuth received:
Bearing 112.5, -51.6 (Local)
2025-06-05T06:05:50.481Z,1749103550.481 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:50.491Z,1749103550.491 [DAT](INFO): DAT read: 06:05:49.3026 LVL= 11568, 8849, 13890, 10835, AGC= 26, IDX= 507, 0.02, 1.342, 1.131, 0.164, 2.084, PHS=-0.654,-0.906,-1.922, RAW= 40.8, 46.6, CAL= 37.5, 51.6, ROT= 112.5, -51.6
2025-06-05T06:05:50.493Z,1749103550.493 [DAT](INFO): got valid direction response:
06:05:49.3026 LVL= 11568, 8849, 13890, 10835, AGC= 26, IDX= 507, 0.02, 1.342, 1.131, 0.164, 2.084, PHS=-0.654,-0.906,-1.922, RAW= 40.8, 46.6, CAL= 37.5, 51.6, ROT= 112.5, -51.6
2025-06-05T06:05:50.495Z,1749103550.495 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-06-05T06:05:50.496Z,1749103550.496 [DAT](INFO): direction in FSK: [-0.237703,0.573866,0.783693]
2025-06-05T06:05:50.497Z,1749103550.497 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:50.802Z,1749103550.802 [DockingStepper](INFO): Stopping
2025-06-05T06:05:50.980Z,1749103550.980 [DAT](INFO): DAT read: Rx Time:06:05:49.8027
2025-06-05T06:05:50.980Z,1749103550.980 [DAT](INFO): Rx dataTimestamp_ set to:1749103550.979881
2025-06-05T06:05:50.981Z,1749103550.981 [DAT](INFO): DAT read: Bearing 114.5, -51.8 (Local)
2025-06-05T06:05:50.982Z,1749103550.982 [DAT](INFO): Local bearing/azimuth received:
Bearing 114.5, -51.8 (Local)
2025-06-05T06:05:50.984Z,1749103550.984 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:50.988Z,1749103550.988 [DAT](INFO): DAT read: 06:05:49.8027 LVL= 12624, 7985, 12722, 10099, AGC= 26, IDX= 508, 0.00,-3.066, 3.053, 2.070,-2.299, PHS=-0.679,-0.884,-1.917, RAW= 38.9, 46.9, CAL= 35.5, 51.8, ROT= 114.5, -51.8
2025-06-05T06:05:50.989Z,1749103550.989 [DAT](INFO): got valid direction response:
06:05:49.8027 LVL= 12624, 7985, 12722, 10099, AGC= 26, IDX= 508, 0.00,-3.066, 3.053, 2.070,-2.299, PHS=-0.679,-0.884,-1.917, RAW= 38.9, 46.9, CAL= 35.5, 51.8, ROT= 114.5, -51.8
2025-06-05T06:05:50.990Z,1749103550.990 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-06-05T06:05:50.995Z,1749103550.995 [DAT](INFO): direction in FSK: [-0.256450,0.562728,0.785857]
2025-06-05T06:05:50.995Z,1749103550.995 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:51.192Z,1749103551.192 [DockingStepper](INFO): Stopping
2025-06-05T06:05:51.493Z,1749103551.493 [DAT](INFO): DAT read: Rx Time:06:05:50.3026
2025-06-05T06:05:51.495Z,1749103551.495 [DAT](INFO): Rx dataTimestamp_ set to:1749103551.493669
2025-06-05T06:05:51.497Z,1749103551.497 [DAT](INFO): DAT read: Bearing 136.5, -44.7 (Local)
2025-06-05T06:05:51.497Z,1749103551.497 [DAT](INFO): Local bearing/azimuth received:
Bearing 136.5, -44.7 (Local)
2025-06-05T06:05:51.509Z,1749103551.509 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:51.517Z,1749103551.517 [DAT](INFO): DAT read: 06:05:50.3026 LVL= 14384, 7921, 12498, 9875, AGC= 26, IDX= 507,-0.07,-3.074,-2.755, 2.162,-2.218, PHS=-0.768,-0.491,-1.907, RAW= 19.3, 40.7, CAL= 13.5, 44.7, ROT= 136.5, -44.7
2025-06-05T06:05:51.523Z,1749103551.523 [DAT](INFO): got valid direction response:
06:05:50.3026 LVL= 14384, 7921, 12498, 9875, AGC= 26, IDX= 507,-0.07,-3.074,-2.755, 2.162,-2.218, PHS=-0.768,-0.491,-1.907, RAW= 19.3, 40.7, CAL= 13.5, 44.7, ROT= 136.5, -44.7
2025-06-05T06:05:51.523Z,1749103551.523 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-06-05T06:05:51.524Z,1749103551.524 [DAT](INFO): direction in FSK: [-0.515596,0.489282,0.703395]
2025-06-05T06:05:51.524Z,1749103551.524 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:51.690Z,1749103551.690 [DockingStepper](INFO): Stopping
2025-06-05T06:05:51.983Z,1749103551.983 [DockingStepper](INFO): Stopped
2025-06-05T06:05:51.988Z,1749103551.988 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-06-05T06:05:51.988Z,1749103551.988 [DockingStepper] No Fault, FailCount= 3
2025-06-05T06:05:51.991Z,1749103551.991 [DAT](INFO): DAT read: Rx Time:06:05:50.8026
2025-06-05T06:05:51.992Z,1749103551.992 [DAT](INFO): Rx dataTimestamp_ set to:1749103551.991459
2025-06-05T06:05:51.995Z,1749103551.995 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:51.995Z,1749103551.995 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-06-05T06:05:52.363Z,1749103552.363 [DockingStepper](INFO): Start
2025-06-05T06:05:52.363Z,1749103552.363 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-05T06:05:52.363Z,1749103552.363 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-05T06:05:52.496Z,1749103552.496 [DAT](INFO): DAT read: Rx Time:06:05:51.3025
2025-06-05T06:05:52.497Z,1749103552.497 [DAT](INFO): Rx dataTimestamp_ set to:1749103552.496851
2025-06-05T06:05:52.499Z,1749103552.499 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:52.500Z,1749103552.500 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-06-05T06:05:52.773Z,1749103552.773 [DockingStepper](INFO): Starting
2025-06-05T06:05:52.999Z,1749103552.999 [DAT](INFO): DAT read: Rx Time:06:05:51.8025
2025-06-05T06:05:52.000Z,1749103553.000 [DAT](INFO): Rx dataTimestamp_ set to:1749103552.999427
2025-06-05T06:05:53.001Z,1749103553.001 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:53.001Z,1749103553.001 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-06-05T06:05:53.145Z,1749103553.145 [DockingStepper](INFO): Starting
2025-06-05T06:05:53.508Z,1749103553.508 [DAT](INFO): DAT read: Rx Time:06:05:52.3025
2025-06-05T06:05:53.509Z,1749103553.509 [DAT](INFO): Rx dataTimestamp_ set to:1749103553.508592
2025-06-05T06:05:53.512Z,1749103553.512 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:53.513Z,1749103553.513 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-06-05T06:05:53.599Z,1749103553.599 [DockingStepper](INFO): Starting
2025-06-05T06:05:53.650Z,1749103553.650 [DockingStepper](INFO): Init string: /1z13295aE13561N3m50
2025-06-05T06:05:54.012Z,1749103554.012 [DAT](INFO): DAT read: Rx Time:06:05:52.8027
2025-06-05T06:05:54.012Z,1749103554.012 [DAT](INFO): Rx dataTimestamp_ set to:1749103554.011976
2025-06-05T06:05:54.013Z,1749103554.013 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:54.017Z,1749103554.017 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-06-05T06:05:54.035Z,1749103554.035 [DockingStepper](INFO): Starting
2025-06-05T06:05:54.364Z,1749103554.364 [DockingStepper](INFO): Starting
2025-06-05T06:05:54.517Z,1749103554.517 [DAT](INFO): DAT read: Rx Time:06:05:53.3026
2025-06-05T06:05:54.517Z,1749103554.517 [DAT](INFO): Rx dataTimestamp_ set to:1749103554.516759
2025-06-05T06:05:54.520Z,1749103554.520 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:54.521Z,1749103554.521 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-06-05T06:05:54.804Z,1749103554.804 [DockingStepper](INFO): Starting
2025-06-05T06:05:55.019Z,1749103555.019 [DAT](INFO): DAT read: Rx Time:06:05:53.8027
2025-06-05T06:05:55.020Z,1749103555.020 [DAT](INFO): Rx dataTimestamp_ set to:1749103555.019433
2025-06-05T06:05:55.021Z,1749103555.021 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:55.021Z,1749103555.021 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-06-05T06:05:55.188Z,1749103555.188 [DockingStepper](INFO): Starting
2025-06-05T06:05:55.218Z,1749103555.218 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-05T06:05:55.532Z,1749103555.532 [DAT](INFO): DAT read: Rx Time:06:05:54.3026
2025-06-05T06:05:55.532Z,1749103555.532 [DAT](INFO): Rx dataTimestamp_ set to:1749103555.531876
2025-06-05T06:05:55.533Z,1749103555.533 [DAT](INFO): DAT read: Bearing 264.9, -53.6 (Local)
2025-06-05T06:05:55.534Z,1749103555.534 [DAT](INFO): Local bearing/azimuth received:
Bearing 264.9, -53.6 (Local)
2025-06-05T06:05:55.540Z,1749103555.540 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:55.557Z,1749103555.557 [DAT](INFO): DAT read: 06:05:54.3026 LVL= 21648, 23073, 12018, 17171, AGC= 29, IDX= 509,-0.07, 0.079, 0.919, 1.924, 2.572, PHS=-2.405,-1.606,-0.651, RAW= 237.0, 47.3, CAL= 245.1, 53.6, ROT= 264.9, -53.6
2025-06-05T06:05:55.559Z,1749103555.559 [DAT](INFO): got valid direction response:
06:05:54.3026 LVL= 21648, 23073, 12018, 17171, AGC= 29, IDX= 509,-0.07, 0.079, 0.919, 1.924, 2.572, PHS=-2.405,-1.606,-0.651, RAW= 237.0, 47.3, CAL= 245.1, 53.6, ROT= 264.9, -53.6
2025-06-05T06:05:55.560Z,1749103555.560 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-06-05T06:05:55.561Z,1749103555.561 [DAT](INFO): direction in FSK: [-0.052752,-0.591070,0.804894]
2025-06-05T06:05:55.562Z,1749103555.562 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:55.735Z,1749103555.735 [DockingStepper](INFO): Starting
2025-06-05T06:05:56.031Z,1749103556.031 [DAT](INFO): DAT read: Rx Time:06:05:54.8027
2025-06-05T06:05:56.032Z,1749103556.032 [DAT](INFO): Rx dataTimestamp_ set to:1749103556.031465
2025-06-05T06:05:56.033Z,1749103556.033 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0
2025-06-05T06:05:56.033Z,1749103556.033 [DAT](ERROR): #Rx 121: Read range message, but no direction.
2025-06-05T06:05:56.037Z,1749103556.037 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T06:05:56.037Z,1749103556.037 [DockingStepper](INFO): Standby mode.
2025-06-05T06:05:56.103Z,1749103556.103 [DockingStepper](INFO): Commanding positive:19424
2025-06-05T06:05:56.535Z,1749103556.535 [DAT](INFO): DAT read: Rx Time:06:05:55.3026
2025-06-05T06:05:56.536Z,1749103556.536 [DAT](INFO): Rx dataTimestamp_ set to:1749103556.535394
2025-06-05T06:05:56.537Z,1749103556.537 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:56.537Z,1749103556.537 [DAT](ERROR): #Rx 122: Read range message, but no direction.
2025-06-05T06:05:57.039Z,1749103557.039 [DAT](INFO): DAT read: Rx Time:06:05:55.8026
2025-06-05T06:05:57.040Z,1749103557.040 [DAT](INFO): Rx dataTimestamp_ set to:1749103557.039510
2025-06-05T06:05:57.041Z,1749103557.041 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:57.042Z,1749103557.042 [DAT](ERROR): #Rx 123: Read range message, but no direction.
2025-06-05T06:05:57.551Z,1749103557.551 [DAT](INFO): DAT read: Rx Time:06:05:56.3025
2025-06-05T06:05:57.551Z,1749103557.551 [DAT](INFO): Rx dataTimestamp_ set to:1749103557.550937
2025-06-05T06:05:57.552Z,1749103557.552 [DAT](INFO): DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0
2025-06-05T06:05:57.553Z,1749103557.553 [DAT](ERROR): #Rx 124: Read range message, but no direction.
2025-06-05T06:05:58.056Z,1749103558.056 [DAT](INFO): DAT read: Rx Time:06:05:56.8026
2025-06-05T06:05:58.056Z,1749103558.056 [DAT](INFO): Rx dataTimestamp_ set to:1749103558.056161
2025-06-05T06:05:58.058Z,1749103558.058 [DAT](INFO): DAT read: Bearing 78.5, -60.7 (Local)
2025-06-05T06:05:58.060Z,1749103558.060 [DAT](INFO): Local bearing/azimuth received:
Bearing 78.5, -60.7 (Local)
2025-06-05T06:05:58.062Z,1749103558.062 [DAT](INFO): DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0
2025-06-05T06:05:58.068Z,1749103558.068 [DAT](INFO): DAT read: 06:05:56.8026 LVL= 14320, 8337, 14018, 10915, AGC= 27, IDX= 507,-0.22, 0.512,-0.236,-0.533, 1.357, PHS=-0.757,-1.547,-1.893, RAW= 72.7, 55.8, CAL= 71.5, 60.7, ROT= 78.5, -60.7
2025-06-05T06:05:58.069Z,1749103558.069 [DAT](INFO): got valid direction response:
06:05:56.8026 LVL= 14320, 8337, 14018, 10915, AGC= 27, IDX= 507,-0.22, 0.512,-0.236,-0.533, 1.357, PHS=-0.757,-1.547,-1.893, RAW= 72.7, 55.8, CAL= 71.5, 60.7, ROT= 78.5, -60.7
2025-06-05T06:05:58.070Z,1749103558.070 [DAT](INFO): #Rx 125: Read range and direction messages.
2025-06-05T06:05:58.087Z,1749103558.087 [DAT](INFO): direction in FSK: [0.097567,0.479558,0.872069]
2025-06-05T06:05:58.087Z,1749103558.087 [DAT](INFO): publishing direction and range info
2025-06-05T06:05:58.463Z,1749103558.463 [DockingStepper](INFO): Commanding positive:19129
2025-06-05T06:06:00.495Z,1749103560.495 [DockingStepper](INFO): Commanding positive:19215
2025-06-05T06:06:01.327Z,1749103561.327 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:06:02.022Z,1749103562.022 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +18, +17,A
2025-06-05T06:06:02.331Z,1749103562.331 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:06:02.526Z,1749103562.526 [DockingStepper](INFO): Commanding positive:19227
2025-06-05T06:06:04.570Z,1749103564.570 [DockingStepper](INFO): Commanding positive:19209
2025-06-05T06:06:06.594Z,1749103566.594 [DockingStepper](INFO): Commanding positive:19129
2025-06-05T06:06:06.631Z,1749103566.631 [DockingStepper](FAULT): Timed out moving from: 13343 to: 16450 response: ÿ
2025-06-05T06:06:06.631Z,1749103566.631 [DockingStepper] Hardware Fault, FailCount= 4
2025-06-05T06:06:06.631Z,1749103566.631 [DockingStepper](ERROR): Hardware Fault
2025-06-05T06:06:06.635Z,1749103566.635 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-06-05T06:06:06.948Z,1749103566.948 [DockingStepper](INFO): Stop
2025-06-05T06:06:06.948Z,1749103566.948 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-05T06:06:06.948Z,1749103566.948 [DockingStepper](INFO): Powering down
2025-06-05T06:06:07.310Z,1749103567.310 [DockingStepper](INFO): Stopping
2025-06-05T06:06:07.689Z,1749103567.689 [DockingStepper](INFO): Stopping
2025-06-05T06:06:08.150Z,1749103568.150 [DockingStepper](INFO): Stopping
2025-06-05T06:06:08.522Z,1749103568.522 [DockingStepper](INFO): Stopping
2025-06-05T06:06:09.020Z,1749103569.020 [DockingStepper](INFO): Stopping
2025-06-05T06:06:09.301Z,1749103569.301 [DockingStepper](INFO): Stopping
2025-06-05T06:06:09.712Z,1749103569.712 [DockingStepper](INFO): Stopping
2025-06-05T06:06:10.170Z,1749103570.170 [DockingStepper](INFO): Stopping
2025-06-05T06:06:10.549Z,1749103570.549 [DockingStepper](INFO): Stopping
2025-06-05T06:06:11.013Z,1749103571.013 [DockingStepper](INFO): Stopping
2025-06-05T06:06:11.336Z,1749103571.336 [DockingStepper](INFO): Stopping
2025-06-05T06:06:11.756Z,1749103571.756 [DockingStepper](INFO): Stopping
2025-06-05T06:06:12.289Z,1749103572.289 [DockingStepper](INFO): Stopping
2025-06-05T06:06:12.573Z,1749103572.573 [DockingStepper](INFO): Stopping
2025-06-05T06:06:13.001Z,1749103573.001 [DockingStepper](INFO): Stopping
2025-06-05T06:06:13.404Z,1749103573.404 [DockingStepper](INFO): Stopping
2025-06-05T06:06:13.747Z,1749103573.747 [DockingStepper](INFO): Stopping
2025-06-05T06:06:14.190Z,1749103574.190 [DockingStepper](INFO): Stopping
2025-06-05T06:06:14.568Z,1749103574.568 [DockingStepper](INFO): Stopping
2025-06-05T06:06:15.038Z,1749103575.038 [DockingStepper](INFO): Stopping
2025-06-05T06:06:15.429Z,1749103575.429 [DockingStepper](INFO): Stopping
2025-06-05T06:06:15.779Z,1749103575.779 [DockingStepper](INFO): Stopping
2025-06-05T06:06:16.208Z,1749103576.208 [DockingStepper](INFO): Stopping
2025-06-05T06:06:16.600Z,1749103576.600 [DockingStepper](INFO): Stopping
2025-06-05T06:06:17.132Z,1749103577.132 [DockingStepper](INFO): Stopping
2025-06-05T06:06:17.402Z,1749103577.402 [DockingStepper](INFO): Stopping
2025-06-05T06:06:17.815Z,1749103577.815 [DockingStepper](INFO): Stopping
2025-06-05T06:06:18.239Z,1749103578.239 [DockingStepper](INFO): Stopping
2025-06-05T06:06:18.598Z,1749103578.598 [DockingStepper](INFO): Stopping
2025-06-05T06:06:19.095Z,1749103579.095 [DockingStepper](INFO): Stopping
2025-06-05T06:06:19.440Z,1749103579.440 [DockingStepper](INFO): Stopping
2025-06-05T06:06:19.822Z,1749103579.822 [DockingStepper](INFO): Stopping
2025-06-05T06:06:20.265Z,1749103580.265 [DockingStepper](INFO): Stopping
2025-06-05T06:06:20.619Z,1749103580.619 [DockingStepper](INFO): Stopping
2025-06-05T06:06:21.103Z,1749103581.103 [DockingStepper](INFO): Stopping
2025-06-05T06:06:21.496Z,1749103581.496 [DockingStepper](INFO): Stopping
2025-06-05T06:06:21.833Z,1749103581.833 [DockingStepper](INFO): Stopping
2025-06-05T06:06:22.294Z,1749103582.294 [DockingStepper](INFO): Stopping
2025-06-05T06:06:22.664Z,1749103582.664 [DockingStepper](INFO): Stopping
2025-06-05T06:06:23.049Z,1749103583.049 [DockingStepper](INFO): Stopping
2025-06-05T06:06:23.529Z,1749103583.529 [DockingStepper](INFO): Stopping
2025-06-05T06:06:23.873Z,1749103583.873 [DockingStepper](INFO): Stopping
2025-06-05T06:06:24.304Z,1749103584.304 [DockingStepper](INFO): Stopping
2025-06-05T06:06:24.655Z,1749103584.655 [DockingStepper](INFO): Stopping
2025-06-05T06:06:25.079Z,1749103585.079 [DockingStepper](INFO): Stopping
2025-06-05T06:06:25.601Z,1749103585.601 [DockingStepper](INFO): Stopping
2025-06-05T06:06:25.880Z,1749103585.880 [DockingStepper](INFO): Stopping
2025-06-05T06:06:26.337Z,1749103586.337 [DockingStepper](INFO): Stopping
2025-06-05T06:06:26.708Z,1749103586.708 [DockingStepper](INFO): Stopping
2025-06-05T06:06:27.125Z,1749103587.125 [DockingStepper](INFO): Stopping
2025-06-05T06:06:27.551Z,1749103587.551 [DockingStepper](INFO): Stopped
2025-06-05T06:06:27.561Z,1749103587.561 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-06-05T06:06:27.561Z,1749103587.561 [DockingStepper] No Fault, FailCount= 4
2025-06-05T06:06:27.915Z,1749103587.915 [DockingStepper](INFO): Start
2025-06-05T06:06:27.915Z,1749103587.915 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-05T06:06:27.916Z,1749103587.916 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-05T06:06:28.329Z,1749103588.329 [DockingStepper](INFO): Starting
2025-06-05T06:06:28.690Z,1749103588.690 [DockingStepper](INFO): Starting
2025-06-05T06:06:29.132Z,1749103589.132 [DockingStepper](INFO): Starting
2025-06-05T06:06:29.189Z,1749103589.189 [DockingStepper](INFO): Init string: /1z13359aE13561N3m50
2025-06-05T06:06:29.587Z,1749103589.587 [DockingStepper](INFO): Starting
2025-06-05T06:06:29.905Z,1749103589.905 [DockingStepper](INFO): Starting
2025-06-05T06:06:30.423Z,1749103590.423 [DockingStepper](INFO): Starting
2025-06-05T06:06:30.750Z,1749103590.750 [DockingStepper](INFO): Starting
2025-06-05T06:06:30.779Z,1749103590.779 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-05T06:06:31.151Z,1749103591.151 [DockingStepper](INFO): Starting
2025-06-05T06:06:31.600Z,1749103591.600 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T06:06:31.600Z,1749103591.600 [DockingStepper](INFO): Standby mode.
2025-06-05T06:06:31.666Z,1749103591.666 [DockingStepper](INFO): Commanding positive:19030
2025-06-05T06:06:32.475Z,1749103592.475 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:06:33.479Z,1749103593.479 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:06:34.068Z,1749103594.068 [DockingStepper](INFO): Commanding positive:18439
2025-06-05T06:06:36.030Z,1749103596.030 [DockingStepper](INFO): Commanding positive:18236
2025-06-05T06:06:38.070Z,1749103598.070 [DockingStepper](INFO): Commanding positive:17947
2025-06-05T06:06:40.106Z,1749103600.106 [DockingStepper](INFO): Commanding positive:17848
2025-06-05T06:06:42.114Z,1749103602.114 [DockingStepper](INFO): Commanding positive:17744
2025-06-05T06:06:42.151Z,1749103602.151 [DockingStepper](FAULT): Timed out moving from: 13568 to: 16450 response: ÿ
2025-06-05T06:06:42.151Z,1749103602.151 [DockingStepper] Hardware Fault, FailCount= 5
2025-06-05T06:06:42.151Z,1749103602.151 [DockingStepper](ERROR): Hardware Fault
2025-06-05T06:06:42.156Z,1749103602.156 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-06-05T06:06:42.156Z,1749103602.156 [CBIT](CRITICAL): Hardware Fault in component: DockingStepper
2025-06-05T06:06:42.544Z,1749103602.544 [DockingStepper](INFO): Stop
2025-06-05T06:06:42.545Z,1749103602.545 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-05T06:06:42.545Z,1749103602.545 [DockingStepper](INFO): Powering down
2025-06-05T06:06:42.548Z,1749103602.548 [CommandExec](FAULT): Scheduling is paused for 1 commands
2025-06-05T06:06:42.548Z,1749103602.548 [CBIT](INFO): Critical error at 20250605T060642
2025-06-05T06:06:42.548Z,1749103602.548 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-06-05T06:06:42.832Z,1749103602.832 [MissionManager](INFO): MissionManager is completed.
2025-06-05T06:06:42.833Z,1749103602.833 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-06-05T06:06:42.833Z,1749103602.833 [lineCaptureHoming] Stopped
2025-06-05T06:06:42.833Z,1749103602.833 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-06-05T06:06:42.833Z,1749103602.833 [lineCaptureHoming:Science] Stopped
2025-06-05T06:06:42.833Z,1749103602.833 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-06-05T06:06:42.833Z,1749103602.833 [lineCaptureHoming:Science:B] Stopped
2025-06-05T06:06:42.833Z,1749103602.833 [lineCaptureHoming:Science:C] Stopped
2025-06-05T06:06:42.833Z,1749103602.833 [lineCaptureHoming:Science:E] Stopped
2025-06-05T06:06:42.833Z,1749103602.833 [lineCaptureHoming:Science:F] Stopped
2025-06-05T06:06:42.833Z,1749103602.833 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-06-05T06:06:42.833Z,1749103602.833 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-06-05T06:06:42.833Z,1749103602.833 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-06-05T06:06:42.834Z,1749103602.834 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-06-05T06:06:42.834Z,1749103602.834 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-06-05T06:06:42.834Z,1749103602.834 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T06:06:42.834Z,1749103602.834 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T06:06:42.834Z,1749103602.834 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T06:06:42.834Z,1749103602.834 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T06:06:42.834Z,1749103602.834 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T06:06:42.834Z,1749103602.834 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T06:06:42.834Z,1749103602.834 [lineCaptureHoming:MicromodemComms] Stopped
2025-06-05T06:06:42.835Z,1749103602.835 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-06-05T06:06:42.835Z,1749103602.835 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-05T06:06:42.835Z,1749103602.835 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-05T06:06:42.835Z,1749103602.835 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-05T06:06:42.835Z,1749103602.835 [lineCaptureHoming:TrackAC.] Stopped
2025-06-05T06:06:42.835Z,1749103602.835 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-05T06:06:42.835Z,1749103602.835 [lineCaptureHoming:Lap] Stopped
2025-06-05T06:06:42.835Z,1749103602.835 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-06-05T06:06:42.835Z,1749103602.835 [lineCaptureHoming:Lap:Docked] Stopped
2025-06-05T06:06:42.836Z,1749103602.836 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-06-05T06:06:42.836Z,1749103602.836 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-06-05T06:06:42.955Z,1749103602.955 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T06:06:43.006Z,1749103603.006 [WetLabsBB2FL](INFO): Powering down
2025-06-05T06:06:43.074Z,1749103603.074 [WetLabsUBAT](INFO): Powering down
2025-06-05T06:06:43.171Z,1749103603.171 [DockingStepper](INFO): Stopping
2025-06-05T06:06:43.207Z,1749103603.207 [DAT](INFO): DAT read: user:649>
2025-06-05T06:06:43.208Z,1749103603.208 [DAT](INFO): DAT read: Tx time:06:06:42.3733
2025-06-05T06:06:43.208Z,1749103603.208 [DAT](INFO): Ping request sent.
2025-06-05T06:06:43.208Z,1749103603.208 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:06:43.208Z,1749103603.208 [DAT](INFO): publishing transmit ping time
2025-06-05T06:06:43.209Z,1749103603.209 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T06:06:43.245Z,1749103603.245 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-05T06:06:43.245Z,1749103603.245 [DefaultWithUndock] Running Loop=1
2025-06-05T06:06:43.245Z,1749103603.245 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-05T06:06:43.250Z,1749103603.250 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-05T06:06:43.250Z,1749103603.250 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-05T06:06:43.259Z,1749103603.259 [DockingStepper](INFO): Stopping
2025-06-05T06:06:43.388Z,1749103603.388 [WetLabsUBAT](FAULT): LCB fault: Invalid Command.
2025-06-05T06:06:43.388Z,1749103603.388 [WetLabsUBAT] Hardware Fault, FailCount= 1
2025-06-05T06:06:43.388Z,1749103603.388 [WetLabsUBAT](ERROR): Hardware Fault
2025-06-05T06:06:43.459Z,1749103603.459 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T06:06:43.711Z,1749103603.711 [DockingStepper](INFO): Stopping
2025-06-05T06:06:43.717Z,1749103603.717 [CBIT](ERROR): Hardware Fault in component: WetLabsUBAT
2025-06-05T06:06:44.053Z,1749103604.053 [DockingStepper](INFO): Stopping
2025-06-05T06:06:44.067Z,1749103604.067 [CBIT](INFO): Clearing failed state for component WetLabsUBAT
2025-06-05T06:06:44.067Z,1749103604.067 [WetLabsUBAT] No Fault, FailCount= 1
2025-06-05T06:06:44.195Z,1749103604.195 [WetLabsUBAT](INFO): Powering up
2025-06-05T06:06:44.529Z,1749103604.529 [DockingStepper](INFO): Stopping
2025-06-05T06:06:45.011Z,1749103605.011 [DockingStepper](INFO): Stopping
2025-06-05T06:06:45.280Z,1749103605.280 [DockingStepper](INFO): Stopping
2025-06-05T06:06:45.475Z,1749103605.475 [DAT](INFO): DAT read: Rx Time:06:06:44.2687
2025-06-05T06:06:45.476Z,1749103605.476 [DAT](INFO): Rx dataTimestamp_ set to:1749103605.475308
2025-06-05T06:06:45.867Z,1749103605.867 [DockingStepper](INFO): Stopping
2025-06-05T06:06:46.091Z,1749103606.091 [DockingStepper](INFO): Stopping
2025-06-05T06:06:46.236Z,1749103606.236 [DAT](INFO): DAT read: 06:06:44.2687 LVL= 7552, 18145, 7794, 8307, AGC= 27, IDX= 137, 0.20,-0.049,-0.499,-1.228, 0.843, PHS=-0.803,-1.294,-2.073, RAW= 52.5, 53.0, CAL= 50.4, 57.7, ROT= 99.6, -57.7
2025-06-05T06:06:46.237Z,1749103606.237 [DAT](INFO): got valid direction response:
06:06:44.2687 LVL= 7552, 18145, 7794, 8307, AGC= 27, IDX= 137, 0.20,-0.049,-0.499,-1.228, 0.843, PHS=-0.803,-1.294,-2.073, RAW= 52.5, 53.0, CAL= 50.4, 57.7, ROT= 99.6, -57.7
2025-06-05T06:06:46.237Z,1749103606.237 [DAT](INFO): DAT read: OK
2025-06-05T06:06:46.237Z,1749103606.237 [DAT](INFO): unknown deviceResponse_: OK
2025-06-05T06:06:46.238Z,1749103606.238 [DAT](INFO): DAT read: user:650>
2025-06-05T06:06:46.239Z,1749103606.239 [DAT](INFO): DAT read: Tx time:06:06:45.3732
2025-06-05T06:06:46.239Z,1749103606.239 [DAT](INFO): Ping request sent.
2025-06-05T06:06:46.239Z,1749103606.239 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:06:46.239Z,1749103606.239 [DAT](INFO): #Rx 126: Read direction message, but no range.
2025-06-05T06:06:46.240Z,1749103606.240 [DAT](INFO): direction in FSK: [-0.089113,0.526869,0.845262]
2025-06-05T06:06:46.241Z,1749103606.241 [DAT](INFO): publishing transmit ping time
2025-06-05T06:06:46.248Z,1749103606.248 [DAT](INFO): publishing transmit ping time
2025-06-05T06:06:46.555Z,1749103606.555 [DockingStepper](INFO): Stopping
2025-06-05T06:06:46.895Z,1749103606.895 [DockingStepper](INFO): Stopping
2025-06-05T06:06:47.327Z,1749103607.327 [DockingStepper](INFO): Stopping
2025-06-05T06:06:47.751Z,1749103607.751 [DockingStepper](INFO): Stopping
2025-06-05T06:06:48.131Z,1749103608.131 [DockingStepper](INFO): Stopping
2025-06-05T06:06:48.506Z,1749103608.506 [DAT](INFO): DAT read: Rx Time:06:06:47.2689
2025-06-05T06:06:48.507Z,1749103608.507 [DAT](INFO): Rx dataTimestamp_ set to:1749103608.506309
2025-06-05T06:06:48.595Z,1749103608.595 [DockingStepper](INFO): Stopping
2025-06-05T06:06:48.911Z,1749103608.911 [DockingStepper](INFO): Stopping
2025-06-05T06:06:49.263Z,1749103609.263 [DAT](INFO): DAT read: 06:06:47.2689 LVL= 11248, 15729, 11346, 9251, AGC= 26, IDX= 442, 0.09, 2.364, 2.202, 1.228,-3.022, PHS=-0.809,-1.012,-2.036, RAW= 38.9, 50.1, CAL= 35.8, 54.6, ROT= 114.2, -54.6
2025-06-05T06:06:49.265Z,1749103609.265 [DAT](INFO): got valid direction response:
06:06:47.2689 LVL= 11248, 15729, 11346, 9251, AGC= 26, IDX= 442, 0.09, 2.364, 2.202, 1.228,-3.022, PHS=-0.809,-1.012,-2.036, RAW= 38.9, 50.1, CAL= 35.8, 54.6, ROT= 114.2, -54.6
2025-06-05T06:06:49.265Z,1749103609.265 [DAT](INFO): DAT read: OK
2025-06-05T06:06:49.265Z,1749103609.265 [DAT](INFO): unknown deviceResponse_: OK
2025-06-05T06:06:49.266Z,1749103609.266 [DAT](INFO): DAT read: user:651>
2025-06-05T06:06:49.266Z,1749103609.266 [DAT](INFO): DAT read: Tx time:06:06:48.3733
2025-06-05T06:06:49.267Z,1749103609.267 [DAT](INFO): Ping request sent.
2025-06-05T06:06:49.267Z,1749103609.267 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:06:49.267Z,1749103609.267 [DAT](INFO): #Rx 127: Read direction message, but no range.
2025-06-05T06:06:49.268Z,1749103609.268 [DAT](INFO): direction in FSK: [-0.237461,0.528374,0.815128]
2025-06-05T06:06:49.268Z,1749103609.268 [DAT](INFO): publishing transmit ping time
2025-06-05T06:06:49.279Z,1749103609.279 [DAT](INFO): publishing transmit ping time
2025-06-05T06:06:49.341Z,1749103609.341 [DockingStepper](INFO): Stopping
2025-06-05T06:06:49.751Z,1749103609.751 [DockingStepper](INFO): Stopping
2025-06-05T06:06:50.153Z,1749103610.153 [DockingStepper](INFO): Stopping
2025-06-05T06:06:50.595Z,1749103610.595 [DockingStepper](INFO): Stopping
2025-06-05T06:06:50.944Z,1749103610.944 [DockingStepper](INFO): Stopping
2025-06-05T06:06:51.339Z,1749103611.339 [DockingStepper](INFO): Stopping
2025-06-05T06:06:51.537Z,1749103611.537 [DAT](INFO): DAT read: Rx Time:06:06:50.2689
2025-06-05T06:06:51.539Z,1749103611.539 [DAT](INFO): Rx dataTimestamp_ set to:1749103611.538062
2025-06-05T06:06:51.775Z,1749103611.775 [DockingStepper](INFO): Stopping
2025-06-05T06:06:52.039Z,1749103612.039 [DAT](INFO): DAT read: OK
2025-06-05T06:06:52.039Z,1749103612.039 [DAT](INFO): unknown deviceResponse_: OK
2025-06-05T06:06:52.227Z,1749103612.227 [DockingStepper](INFO): Stopping
2025-06-05T06:06:52.668Z,1749103612.668 [DockingStepper](INFO): Stopping
2025-06-05T06:06:52.971Z,1749103612.971 [DockingStepper](INFO): Stopping
2025-06-05T06:06:53.391Z,1749103613.391 [DockingStepper](INFO): Stopping
2025-06-05T06:06:53.438Z,1749103613.438 [WetLabsUBAT](INFO): Powering down
2025-06-05T06:06:53.812Z,1749103613.812 [DockingStepper](INFO): Stopping
2025-06-05T06:06:54.179Z,1749103614.179 [DockingStepper](INFO): Stopping
2025-06-05T06:06:54.639Z,1749103614.639 [DockingStepper](INFO): Stopping
2025-06-05T06:06:54.991Z,1749103614.991 [DockingStepper](INFO): Stopping
2025-06-05T06:06:55.368Z,1749103615.368 [DockingStepper](INFO): Stopping
2025-06-05T06:06:55.811Z,1749103615.811 [DockingStepper](INFO): Stopping
2025-06-05T06:06:56.270Z,1749103616.270 [DockingStepper](INFO): Stopping
2025-06-05T06:06:56.597Z,1749103616.597 [DockingStepper](INFO): Stopping
2025-06-05T06:06:57.111Z,1749103617.111 [DockingStepper](INFO): Stopping
2025-06-05T06:06:57.427Z,1749103617.427 [DockingStepper](INFO): Stopping
2025-06-05T06:06:57.839Z,1749103617.839 [DockingStepper](INFO): Stopping
2025-06-05T06:06:58.240Z,1749103618.240 [DockingStepper](INFO): Stopping
2025-06-05T06:06:58.622Z,1749103618.622 [DockingStepper](INFO): Stopping
2025-06-05T06:06:59.059Z,1749103619.059 [DockingStepper](INFO): Stopping
2025-06-05T06:06:59.415Z,1749103619.415 [DockingStepper](INFO): Stopping
2025-06-05T06:06:59.839Z,1749103619.839 [DockingStepper](INFO): Stopping
2025-06-05T06:07:00.227Z,1749103620.227 [DockingStepper](INFO): Stopping
2025-06-05T06:07:00.650Z,1749103620.650 [DockingStepper](INFO): Stopping
2025-06-05T06:07:01.052Z,1749103621.052 [DockingStepper](INFO): Stopping
2025-06-05T06:07:01.439Z,1749103621.439 [DockingStepper](INFO): Stopping
2025-06-05T06:07:01.871Z,1749103621.871 [DockingStepper](INFO): Stopping
2025-06-05T06:07:02.247Z,1749103622.247 [DockingStepper](INFO): Stopping
2025-06-05T06:07:02.658Z,1749103622.658 [DockingStepper](INFO): Stopping
2025-06-05T06:07:03.079Z,1749103623.079 [DockingStepper](INFO): Stopped
2025-06-05T06:07:03.602Z,1749103623.602 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:07:04.606Z,1749103624.606 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:07:12.364Z,1749103632.364 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-06-05T06:07:12.365Z,1749103632.365 [DockingStepper] No Fault, FailCount= 5
2025-06-05T06:07:12.753Z,1749103632.753 [DockingStepper](INFO): Start
2025-06-05T06:07:12.754Z,1749103632.754 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-05T06:07:12.771Z,1749103632.771 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-05T06:07:13.199Z,1749103633.199 [DockingStepper](INFO): Starting
2025-06-05T06:07:13.521Z,1749103633.521 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-06-05T06:07:13.521Z,1749103633.521 [DefaultWithUndock:A.Wait] Stopped
2025-06-05T06:07:13.521Z,1749103633.521 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T06:07:13.521Z,1749103633.521 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-06-05T06:07:13.521Z,1749103633.521 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-06-05T06:07:13.521Z,1749103633.521 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-06-05T06:07:13.521Z,1749103633.521 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-06-05T06:07:13.522Z,1749103633.522 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-06-05T06:07:13.522Z,1749103633.522 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-06-05T06:07:13.522Z,1749103633.522 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-05T06:07:13.559Z,1749103633.559 [DockingStepper](INFO): Starting
2025-06-05T06:07:13.949Z,1749103633.949 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-06-05T06:07:13.949Z,1749103633.949 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-05T06:07:13.951Z,1749103633.951 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock at depth 63.597397 m.
2025-06-05T06:07:13.952Z,1749103633.952 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-06-05T06:07:14.127Z,1749103634.127 [DockingStepper](INFO): Starting
2025-06-05T06:07:14.179Z,1749103634.179 [DockingStepper](INFO): Init string: /1z13583aE13561N3m50
2025-06-05T06:07:14.339Z,1749103634.339 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:14.340Z,1749103634.339 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-06-05T06:07:14.396Z,1749103634.396 [DockingStepper](INFO): Starting
2025-06-05T06:07:14.735Z,1749103634.735 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch -20.00 deg, mass-position 19.02 mm.
2025-06-05T06:07:14.736Z,1749103634.736 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 19.02 mm.
2025-06-05T06:07:14.741Z,1749103634.741 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:14.747Z,1749103634.747 [DockingStepper](INFO): Starting
2025-06-05T06:07:15.160Z,1749103635.160 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:15.167Z,1749103635.167 [DockingStepper](INFO): Starting
2025-06-05T06:07:15.549Z,1749103635.549 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:15.631Z,1749103635.631 [DockingStepper](INFO): Starting
2025-06-05T06:07:15.987Z,1749103635.987 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:15.993Z,1749103635.993 [DockingStepper](INFO): Starting
2025-06-05T06:07:16.063Z,1749103636.063 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-05T06:07:16.373Z,1749103636.373 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:16.380Z,1749103636.380 [DockingStepper](INFO): Starting
2025-06-05T06:07:16.756Z,1749103636.756 [DockingStepper](INFO): Changing to mode: 3
2025-06-05T06:07:16.757Z,1749103636.757 [DockingStepper](INFO): Detach mode.
2025-06-05T06:07:16.818Z,1749103636.818 [DockingStepper](INFO): Commanding negative:37458
2025-06-05T06:07:17.407Z,1749103637.407 [CTD_Seabird](ERROR): Failed to parse device response:
2025-06-05T06:07:20.902Z,1749103640.902 [DockingStepper](INFO): Failure count cleared after critical for DockingStepper
2025-06-05T06:07:21.233Z,1749103641.233 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:21.234Z,1749103641.234 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-06-05T06:07:21.598Z,1749103641.598 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:22.056Z,1749103642.056 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:22.414Z,1749103642.414 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:22.810Z,1749103642.810 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:23.256Z,1749103643.256 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:23.679Z,1749103643.679 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:23.680Z,1749103643.680 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-06-05T06:07:23.823Z,1749103643.823 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:07:23.824Z,1749103643.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:07:24.068Z,1749103644.068 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:24.075Z,1749103644.075 [DAT](INFO): DAT read: user:652>
2025-06-05T06:07:24.076Z,1749103644.076 [DAT](INFO): DAT read: Tx time:06:07:23.2248
2025-06-05T06:07:24.076Z,1749103644.076 [DAT](INFO): Ping request sent.
2025-06-05T06:07:24.076Z,1749103644.076 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:07:24.076Z,1749103644.076 [DAT](INFO): publishing transmit ping time
2025-06-05T06:07:24.077Z,1749103644.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-06-05T06:07:24.327Z,1749103644.327 [DAT](INFO): DAT read: TxSync time:06:07:23.2240
2025-06-05T06:07:24.328Z,1749103644.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251712
2025-06-05T06:07:24.462Z,1749103644.462 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:24.580Z,1749103644.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503329
2025-06-05T06:07:24.832Z,1749103644.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755306
2025-06-05T06:07:24.851Z,1749103644.851 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:25.083Z,1749103645.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006880
2025-06-05T06:07:25.261Z,1749103645.261 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:25.335Z,1749103645.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258887
2025-06-05T06:07:25.587Z,1749103645.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510853
2025-06-05T06:07:25.656Z,1749103645.656 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:25.839Z,1749103645.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763081
2025-06-05T06:07:26.091Z,1749103646.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014927
2025-06-05T06:07:26.224Z,1749103646.224 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:26.343Z,1749103646.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266813
2025-06-05T06:07:26.459Z,1749103646.459 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:26.595Z,1749103646.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518938
2025-06-05T06:07:26.847Z,1749103646.847 [DAT](INFO): DAT read: Rx Time:06:07:25.6299
2025-06-05T06:07:26.848Z,1749103646.848 [DAT](INFO): Rx dataTimestamp_ set to:1749103646.847430
2025-06-05T06:07:26.848Z,1749103646.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772050
2025-06-05T06:07:26.858Z,1749103646.858 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:27.099Z,1749103647.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022850
2025-06-05T06:07:27.284Z,1749103647.284 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-06-05T06:07:27.355Z,1749103647.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277644
2025-06-05T06:07:27.608Z,1749103647.608 [DAT](INFO): DAT read: 06:07:25.6299 LVL= 7216, 11105, 7618, 10723, AGC= 33, IDX= 23, 0.17,-2.225, 2.558, 1.886,-2.586, PHS= 0.449,-1.093,-1.815, RAW= 71.8, 23.5, CAL= 70.8, 31.7, ROT= 79.2, -31.7
2025-06-05T06:07:27.609Z,1749103647.609 [DAT](INFO): got valid direction response:
06:07:25.6299 LVL= 7216, 11105, 7618, 10723, AGC= 33, IDX= 23, 0.17,-2.225, 2.558, 1.886,-2.586, PHS= 0.449,-1.093,-1.815, RAW= 71.8, 23.5, CAL= 70.8, 31.7, ROT= 79.2, -31.7
2025-06-05T06:07:27.611Z,1749103647.611 [DAT](INFO): DAT read: Bearing 79.2, -31.7 (Local)
2025-06-05T06:07:27.611Z,1749103647.611 [DAT](INFO): Local bearing/azimuth received:
Bearing 79.2, -31.7 (Local)
2025-06-05T06:07:27.612Z,1749103647.612 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m (Round-trip 1.0 ms) speed 0.0 m/s
2025-06-05T06:07:27.613Z,1749103647.613 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:07:27.614Z,1749103647.614 [DAT](INFO): direction in FSK: [0.159426,0.835741,0.525472]
2025-06-05T06:07:27.614Z,1749103647.614 [DAT](INFO): publishing direction and range info
2025-06-05T06:07:31.335Z,1749103651.335 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2025-06-05T06:07:33.720Z,1749103653.720 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-06-05T06:07:33.907Z,1749103653.907 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:07:33.907Z,1749103653.907 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:07:33.907Z,1749103653.907 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:07:34.163Z,1749103654.163 [DAT](INFO): DAT read: user:653>
2025-06-05T06:07:34.165Z,1749103654.165 [DAT](INFO): DAT read: Tx time:06:07:33.3249
2025-06-05T06:07:34.166Z,1749103654.166 [DAT](INFO): Ping request sent.
2025-06-05T06:07:34.167Z,1749103654.167 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:07:34.167Z,1749103654.167 [DAT](INFO): publishing transmit ping time
2025-06-05T06:07:34.169Z,1749103654.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001988
2025-06-05T06:07:34.419Z,1749103654.419 [DAT](INFO): DAT read: TxSync time:06:07:33.3241
2025-06-05T06:07:34.420Z,1749103654.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253588
2025-06-05T06:07:34.671Z,1749103654.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504613
2025-06-05T06:07:34.738Z,1749103654.738 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:07:34.923Z,1749103654.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757009
2025-06-05T06:07:35.178Z,1749103655.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011034
2025-06-05T06:07:35.427Z,1749103655.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260646
2025-06-05T06:07:35.679Z,1749103655.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512916
2025-06-05T06:07:35.743Z,1749103655.743 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:07:35.931Z,1749103655.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764718
2025-06-05T06:07:36.187Z,1749103656.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020020
2025-06-05T06:07:36.437Z,1749103656.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270538
2025-06-05T06:07:36.687Z,1749103656.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520733
2025-06-05T06:07:36.940Z,1749103656.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773368
2025-06-05T06:07:37.193Z,1749103657.193 [DAT](INFO): DAT read: Rx Time:06:07:35.7323
2025-06-05T06:07:37.195Z,1749103657.195 [DAT](INFO): Rx dataTimestamp_ set to:1749103657.194243
2025-06-05T06:07:37.197Z,1749103657.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029901
2025-06-05T06:07:37.444Z,1749103657.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277409
2025-06-05T06:07:37.700Z,1749103657.700 [DAT](INFO): DAT read: 06:07:35.7323 LVL= 15264, 29249, 29010, 32755, AGC= 37, IDX= 462,-0.00,-0.479,-1.821,-1.012,-0.797, PHS= 0.406,-0.977,-0.218, RAW= 123.2, 13.1, CAL= 130.2, 8.9, ROT= 19.8, -8.9
2025-06-05T06:07:37.701Z,1749103657.701 [DAT](INFO): got valid direction response:
06:07:35.7323 LVL= 15264, 29249, 29010, 32755, AGC= 37, IDX= 462,-0.00,-0.479,-1.821,-1.012,-0.797, PHS= 0.406,-0.977,-0.218, RAW= 123.2, 13.1, CAL= 130.2, 8.9, ROT= 19.8, -8.9
2025-06-05T06:07:37.702Z,1749103657.702 [DAT](INFO): DAT read: Bearing 19.8, -8.9 (Local)
2025-06-05T06:07:37.703Z,1749103657.703 [DAT](INFO): Local bearing/azimuth received:
Bearing 19.8, -8.9 (Local)
2025-06-05T06:07:37.704Z,1749103657.704 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (Round-trip 3.3 ms) speed -0.4 m/s
2025-06-05T06:07:37.704Z,1749103657.704 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:07:37.705Z,1749103657.705 [DAT](INFO): direction in FSK: [0.929552,0.334659,0.154710]
2025-06-05T06:07:37.706Z,1749103657.706 [DAT](INFO): publishing direction and range info
2025-06-05T06:07:43.836Z,1749103663.836 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-06-05T06:07:44.019Z,1749103664.019 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:07:44.019Z,1749103664.019 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:07:44.019Z,1749103664.019 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:07:44.273Z,1749103664.273 [DAT](INFO): DAT read: user:654>
2025-06-05T06:07:44.277Z,1749103664.277 [DAT](INFO): DAT read: Tx time:06:07:43.4250
2025-06-05T06:07:44.278Z,1749103664.278 [DAT](INFO): Ping request sent.
2025-06-05T06:07:44.279Z,1749103664.279 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:07:44.279Z,1749103664.279 [DAT](INFO): publishing transmit ping time
2025-06-05T06:07:44.281Z,1749103664.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003047
2025-06-05T06:07:44.523Z,1749103664.523 [DAT](INFO): DAT read: TxSync time:06:07:43.4242
2025-06-05T06:07:44.524Z,1749103664.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246063
2025-06-05T06:07:44.775Z,1749103664.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497461
2025-06-05T06:07:45.027Z,1749103665.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749375
2025-06-05T06:07:45.279Z,1749103665.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001392
2025-06-05T06:07:45.531Z,1749103665.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253361
2025-06-05T06:07:45.783Z,1749103665.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505239
2025-06-05T06:07:46.035Z,1749103666.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757161
2025-06-05T06:07:46.291Z,1749103666.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011850
2025-06-05T06:07:46.539Z,1749103666.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261281
2025-06-05T06:07:46.791Z,1749103666.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513260
2025-06-05T06:07:47.047Z,1749103667.047 [DAT](INFO): DAT read: Rx Time:06:07:45.8347
2025-06-05T06:07:47.048Z,1749103667.048 [DAT](INFO): Rx dataTimestamp_ set to:1749103667.047649
2025-06-05T06:07:47.048Z,1749103667.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770654
2025-06-05T06:07:47.302Z,1749103667.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023411
2025-06-05T06:07:47.551Z,1749103667.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273612
2025-06-05T06:07:47.808Z,1749103667.808 [DAT](INFO): DAT read: 06:07:45.8347 LVL= 13200, 30193, 31282, 32755, AGC= 39, IDX= 470, 0.46,-2.433, 2.437,-3.068,-2.815, PHS= 0.470,-0.985,-0.256, RAW= 120.1, 12.2, CAL= 127.7, 8.4, ROT= 22.3, -8.4
2025-06-05T06:07:47.810Z,1749103667.810 [DAT](INFO): got valid direction response:
06:07:45.8347 LVL= 13200, 30193, 31282, 32755, AGC= 39, IDX= 470, 0.46,-2.433, 2.437,-3.068,-2.815, PHS= 0.470,-0.985,-0.256, RAW= 120.1, 12.2, CAL= 127.7, 8.4, ROT= 22.3, -8.4
2025-06-05T06:07:47.811Z,1749103667.811 [DAT](INFO): DAT read: Bearing 22.3, -8.4 (Local)
2025-06-05T06:07:47.811Z,1749103667.811 [DAT](INFO): Local bearing/azimuth received:
Bearing 22.3, -8.4 (Local)
2025-06-05T06:07:47.812Z,1749103667.812 [DAT](INFO): DAT read: Range 10 to 50 : 4.2 m (Round-trip 5.6 ms) speed -0.2 m/s
2025-06-05T06:07:47.813Z,1749103667.813 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:07:47.814Z,1749103667.814 [DAT](INFO): direction in FSK: [0.915284,0.375385,0.146083]
2025-06-05T06:07:47.815Z,1749103667.815 [DAT](INFO): publishing direction and range info
2025-06-05T06:07:53.929Z,1749103673.929 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-06-05T06:07:54.107Z,1749103674.107 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:07:54.107Z,1749103674.107 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:07:54.107Z,1749103674.107 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:07:54.361Z,1749103674.361 [DAT](INFO): DAT read: user:655>
2025-06-05T06:07:54.362Z,1749103674.362 [DAT](INFO): DAT read: Tx time:06:07:53.5250
2025-06-05T06:07:54.362Z,1749103674.362 [DAT](INFO): Ping request sent.
2025-06-05T06:07:54.362Z,1749103674.362 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:07:54.362Z,1749103674.362 [DAT](INFO): publishing transmit ping time
2025-06-05T06:07:54.363Z,1749103674.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764
2025-06-05T06:07:54.611Z,1749103674.611 [DAT](INFO): DAT read: TxSync time:06:07:53.5243
2025-06-05T06:07:54.612Z,1749103674.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249925
2025-06-05T06:07:54.863Z,1749103674.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500876
2025-06-05T06:07:55.115Z,1749103675.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752786
2025-06-05T06:07:55.367Z,1749103675.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004792
2025-06-05T06:07:55.620Z,1749103675.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257537
2025-06-05T06:07:55.871Z,1749103675.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508768
2025-06-05T06:07:56.123Z,1749103676.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760807
2025-06-05T06:07:56.379Z,1749103676.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017119
2025-06-05T06:07:56.631Z,1749103676.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268755
2025-06-05T06:07:56.883Z,1749103676.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520791
2025-06-05T06:07:57.147Z,1749103677.147 [DAT](INFO): DAT read: Rx Time:06:07:55.9375
2025-06-05T06:07:57.148Z,1749103677.148 [DAT](INFO): Rx dataTimestamp_ set to:1749103677.147673
2025-06-05T06:07:57.148Z,1749103677.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786238
2025-06-05T06:07:57.399Z,1749103677.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036768
2025-06-05T06:07:57.652Z,1749103677.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289469
2025-06-05T06:07:57.908Z,1749103677.908 [DAT](INFO): DAT read: 06:07:55.9375 LVL= 17568, 32753, 32754, 32755, AGC= 49, IDX= 451,-0.24,-0.022,-1.414,-0.933,-0.440, PHS= 0.506,-0.927,-0.496, RAW= 107.0, 14.3, CAL= 115.4, 12.9, ROT= 34.6, -12.9
2025-06-05T06:07:57.909Z,1749103677.909 [DAT](INFO): got valid direction response:
06:07:55.9375 LVL= 17568, 32753, 32754, 32755, AGC= 49, IDX= 451,-0.24,-0.022,-1.414,-0.933,-0.440, PHS= 0.506,-0.927,-0.496, RAW= 107.0, 14.3, CAL= 115.4, 12.9, ROT= 34.6, -12.9
2025-06-05T06:07:57.910Z,1749103677.910 [DAT](INFO): DAT read: Bearing 34.6, -12.9 (Local)
2025-06-05T06:07:57.911Z,1749103677.911 [DAT](INFO): Local bearing/azimuth received:
Bearing 34.6, -12.9 (Local)
2025-06-05T06:07:57.912Z,1749103677.912 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (Round-trip 8.3 ms) speed 0.0 m/s
2025-06-05T06:07:57.912Z,1749103677.912 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:07:57.913Z,1749103677.913 [DAT](INFO): direction in FSK: [0.802361,0.553512,0.223250]
2025-06-05T06:07:57.914Z,1749103677.914 [DAT](INFO): publishing direction and range info
2025-06-05T06:08:04.057Z,1749103684.057 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-06-05T06:08:04.211Z,1749103684.211 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:08:04.211Z,1749103684.211 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:08:04.211Z,1749103684.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:08:04.463Z,1749103684.463 [DAT](INFO): DAT read: user:656>
2025-06-05T06:08:04.464Z,1749103684.464 [DAT](INFO): DAT read: Tx time:06:08:03.6251
2025-06-05T06:08:04.464Z,1749103684.464 [DAT](INFO): Ping request sent.
2025-06-05T06:08:04.464Z,1749103684.464 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:08:04.465Z,1749103684.465 [DAT](INFO): publishing transmit ping time
2025-06-05T06:08:04.465Z,1749103684.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-06-05T06:08:04.715Z,1749103684.715 [DAT](INFO): DAT read: TxSync time:06:08:03.6244
2025-06-05T06:08:04.716Z,1749103684.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251474
2025-06-05T06:08:04.967Z,1749103684.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502525
2025-06-05T06:08:05.219Z,1749103685.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754604
2025-06-05T06:08:05.471Z,1749103685.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006568
2025-06-05T06:08:05.723Z,1749103685.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258872
2025-06-05T06:08:05.862Z,1749103685.862 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:08:05.975Z,1749103685.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510541
2025-06-05T06:08:06.227Z,1749103686.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762573
2025-06-05T06:08:06.481Z,1749103686.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016589
2025-06-05T06:08:06.731Z,1749103686.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266788
2025-06-05T06:08:06.867Z,1749103686.867 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:08:06.983Z,1749103686.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518589
2025-06-05T06:08:07.235Z,1749103687.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770617
2025-06-05T06:08:07.488Z,1749103687.488 [DAT](INFO): DAT read: Rx Time:06:08:06.0396
2025-06-05T06:08:07.489Z,1749103687.489 [DAT](INFO): Rx dataTimestamp_ set to:1749103687.487934
2025-06-05T06:08:07.489Z,1749103687.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024564
2025-06-05T06:08:07.741Z,1749103687.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276128
2025-06-05T06:08:07.996Z,1749103687.996 [DAT](INFO): DAT read: 06:08:06.0396 LVL= 16432, 32753, 28754, 32755, AGC= 46, IDX= 453, 0.47, 2.399, 0.913, 1.586, 1.888, PHS= 0.599,-0.928,-0.305, RAW= 113.9, 9.6, CAL= 123.1, 6.5, ROT= 26.9, -6.5
2025-06-05T06:08:07.997Z,1749103687.997 [DAT](INFO): got valid direction response:
06:08:06.0396 LVL= 16432, 32753, 28754, 32755, AGC= 46, IDX= 453, 0.47, 2.399, 0.913, 1.586, 1.888, PHS= 0.599,-0.928,-0.305, RAW= 113.9, 9.6, CAL= 123.1, 6.5, ROT= 26.9, -6.5
2025-06-05T06:08:07.998Z,1749103687.998 [DAT](INFO): DAT read: Bearing 26.9, -6.5 (Local)
2025-06-05T06:08:07.999Z,1749103687.999 [DAT](INFO): Local bearing/azimuth received:
Bearing 26.9, -6.5 (Local)
2025-06-05T06:08:07.000Z,1749103688.000 [DAT](INFO): DAT read: Range 10 to 50 : 7.7 m (Round-trip 10.3 ms) speed -0.2 m/s
2025-06-05T06:08:08.001Z,1749103688.001 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:08:08.002Z,1749103688.002 [DAT](INFO): direction in FSK: [0.886065,0.449526,0.113203]
2025-06-05T06:08:08.002Z,1749103688.002 [DAT](INFO): publishing direction and range info
2025-06-05T06:08:08.082Z,1749103688.082 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-05T06:08:14.167Z,1749103694.167 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-06-05T06:08:14.303Z,1749103694.303 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:08:14.303Z,1749103694.303 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:08:14.303Z,1749103694.303 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:08:14.555Z,1749103694.555 [DAT](INFO): DAT read: user:657>
2025-06-05T06:08:14.556Z,1749103694.556 [DAT](INFO): DAT read: Tx time:06:08:13.7252
2025-06-05T06:08:14.556Z,1749103694.556 [DAT](INFO): Ping request sent.
2025-06-05T06:08:14.556Z,1749103694.556 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:08:14.556Z,1749103694.556 [DAT](INFO): publishing transmit ping time
2025-06-05T06:08:14.557Z,1749103694.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000795
2025-06-05T06:08:14.807Z,1749103694.807 [DAT](INFO): DAT read: TxSync time:06:08:13.7245
2025-06-05T06:08:14.808Z,1749103694.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251588
2025-06-05T06:08:15.059Z,1749103695.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502719
2025-06-05T06:08:15.319Z,1749103695.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762904
2025-06-05T06:08:15.571Z,1749103695.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014708
2025-06-05T06:08:15.823Z,1749103695.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266738
2025-06-05T06:08:16.075Z,1749103696.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518710
2025-06-05T06:08:16.327Z,1749103696.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770705
2025-06-05T06:08:16.579Z,1749103696.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023038
2025-06-05T06:08:16.831Z,1749103696.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274750
2025-06-05T06:08:17.083Z,1749103697.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526691
2025-06-05T06:08:17.341Z,1749103697.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.784393
2025-06-05T06:08:17.591Z,1749103697.591 [DAT](INFO): DAT read: Rx Time:06:08:16.1411
2025-06-05T06:08:17.592Z,1749103697.592 [DAT](INFO): Rx dataTimestamp_ set to:1749103697.591326
2025-06-05T06:08:17.592Z,1749103697.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035808
2025-06-05T06:08:17.843Z,1749103697.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286791
2025-06-05T06:08:18.100Z,1749103698.100 [DAT](INFO): DAT read: 06:08:16.1411 LVL= 18240, 32753, 32754, 32755, AGC= 45, IDX= 436, 0.15,-1.578,-3.056,-2.313,-2.056, PHS= 0.566,-0.953,-0.260, RAW= 117.1, 9.9, CAL= 125.8, 6.3, ROT= 24.2, -6.3
2025-06-05T06:08:18.101Z,1749103698.101 [DAT](INFO): got valid direction response:
06:08:16.1411 LVL= 18240, 32753, 32754, 32755, AGC= 45, IDX= 436, 0.15,-1.578,-3.056,-2.313,-2.056, PHS= 0.566,-0.953,-0.260, RAW= 117.1, 9.9, CAL= 125.8, 6.3, ROT= 24.2, -6.3
2025-06-05T06:08:18.103Z,1749103698.103 [DAT](INFO): DAT read: Bearing 24.2, -6.3 (Local)
2025-06-05T06:08:18.103Z,1749103698.103 [DAT](INFO): Local bearing/azimuth received:
Bearing 24.2, -6.3 (Local)
2025-06-05T06:08:18.104Z,1749103698.104 [DAT](INFO): DAT read: Range 10 to 50 : 8.7 m (Round-trip 11.7 ms) speed -0.1 m/s
2025-06-05T06:08:18.105Z,1749103698.105 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:08:18.106Z,1749103698.106 [DAT](INFO): direction in FSK: [0.906612,0.407447,0.109734]
2025-06-05T06:08:18.106Z,1749103698.106 [DAT](INFO): publishing direction and range info
2025-06-05T06:08:24.263Z,1749103704.263 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-06-05T06:08:24.411Z,1749103704.411 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:08:24.411Z,1749103704.411 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:08:24.411Z,1749103704.411 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:08:24.676Z,1749103704.676 [DAT](INFO): DAT read: user:658>
2025-06-05T06:08:24.677Z,1749103704.677 [DAT](INFO): DAT read: Tx time:06:08:23.8253
2025-06-05T06:08:24.677Z,1749103704.677 [DAT](INFO): Ping request sent.
2025-06-05T06:08:24.679Z,1749103704.679 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:08:24.679Z,1749103704.679 [DAT](INFO): publishing transmit ping time
2025-06-05T06:08:24.680Z,1749103704.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002601
2025-06-05T06:08:24.928Z,1749103704.928 [DAT](INFO): DAT read: TxSync time:06:08:23.8246
2025-06-05T06:08:24.929Z,1749103704.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251331
2025-06-05T06:08:25.179Z,1749103705.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501582
2025-06-05T06:08:25.431Z,1749103705.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753582
2025-06-05T06:08:25.683Z,1749103705.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005635
2025-06-05T06:08:25.938Z,1749103705.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259490
2025-06-05T06:08:26.187Z,1749103706.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509406
2025-06-05T06:08:26.439Z,1749103706.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761455
2025-06-05T06:08:26.691Z,1749103706.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013535
2025-06-05T06:08:26.946Z,1749103706.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267752
2025-06-05T06:08:27.195Z,1749103707.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517494
2025-06-05T06:08:27.447Z,1749103707.447 [DAT](INFO): DAT read: Rx Time:06:08:26.2430
2025-06-05T06:08:27.448Z,1749103707.448 [DAT](INFO): Rx dataTimestamp_ set to:1749103707.447347
2025-06-05T06:08:27.448Z,1749103707.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770594
2025-06-05T06:08:27.699Z,1749103707.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021566
2025-06-05T06:08:27.955Z,1749103707.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276836
2025-06-05T06:08:28.208Z,1749103708.208 [DAT](INFO): DAT read: 06:08:26.2431 LVL= 16624, 32753, 32674, 32755, AGC= 49, IDX= 439, 0.23, 2.848, 1.363, 2.082, 2.344, PHS= 0.592,-0.934,-0.265, RAW= 115.9, 9.2, CAL= 124.9, 5.8, ROT= 25.1, -5.8
2025-06-05T06:08:28.209Z,1749103708.209 [DAT](INFO): got valid direction response:
06:08:26.2431 LVL= 16624, 32753, 32674, 32755, AGC= 49, IDX= 439, 0.23, 2.848, 1.363, 2.082, 2.344, PHS= 0.592,-0.934,-0.265, RAW= 115.9, 9.2, CAL= 124.9, 5.8, ROT= 25.1, -5.8
2025-06-05T06:08:28.210Z,1749103708.210 [DAT](INFO): DAT read: Bearing 25.1, -5.8 (Local)
2025-06-05T06:08:28.211Z,1749103708.211 [DAT](INFO): Local bearing/azimuth received:
Bearing 25.1, -5.8 (Local)
2025-06-05T06:08:28.212Z,1749103708.212 [DAT](INFO): DAT read: Range 10 to 50 : 10.1 m (Round-trip 13.5 ms) speed -0.1 m/s
2025-06-05T06:08:28.213Z,1749103708.213 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:08:28.213Z,1749103708.213 [DAT](INFO): direction in FSK: [0.900933,0.422028,0.101056]
2025-06-05T06:08:28.214Z,1749103708.214 [DAT](INFO): publishing direction and range info
2025-06-05T06:08:28.345Z,1749103708.345 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 10.10 m. Transitioning docking module to standby.
2025-06-05T06:08:28.692Z,1749103708.692 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T06:08:28.692Z,1749103708.692 [DockingStepper](INFO): Standby mode.
2025-06-05T06:08:28.762Z,1749103708.762 [DockingStepper](INFO): Commanding positive:54691
2025-06-05T06:08:34.333Z,1749103714.333 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, , +0.00, 20.00,363.38
2025-06-05T06:08:34.345Z,1749103714.345 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-06-05T06:08:34.503Z,1749103714.503 [DAT](INFO): ****** received valid address query ******
2025-06-05T06:08:34.503Z,1749103714.503 [DAT](INFO): ****** received valid ping request ******
2025-06-05T06:08:34.503Z,1749103714.503 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:08:34.755Z,1749103714.755 [DAT](INFO): DAT read: user:659>
2025-06-05T06:08:34.756Z,1749103714.756 [DAT](INFO): DAT read: Tx time:06:08:33.9254
2025-06-05T06:08:34.756Z,1749103714.756 [DAT](INFO): Ping request sent.
2025-06-05T06:08:34.756Z,1749103714.756 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:08:34.757Z,1749103714.757 [DAT](INFO): publishing transmit ping time
2025-06-05T06:08:34.757Z,1749103714.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-06-05T06:08:34.759Z,1749103714.759 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-06-05T06:08:35.010Z,1749103715.010 [DAT](INFO): DAT read: TxSync time:06:08:33.9247
2025-06-05T06:08:35.012Z,1749103715.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255457
2025-06-05T06:08:35.158Z,1749103715.158 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-06-05T06:08:35.158Z,1749103715.158 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-06-05T06:08:35.159Z,1749103715.159 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-06-05T06:08:35.159Z,1749103715.159 [DefaultWithUndock:LeaveDock] Stopped
2025-06-05T06:08:35.159Z,1749103715.159 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-06-05T06:08:35.159Z,1749103715.159 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-06-05T06:08:35.159Z,1749103715.159 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-05T06:08:35.160Z,1749103715.160 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-06-05T06:08:35.160Z,1749103715.160 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-06-05T06:08:35.160Z,1749103715.160 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-06-05T06:08:35.160Z,1749103715.160 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T06:08:35.160Z,1749103715.160 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-05T06:08:35.160Z,1749103715.160 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-05T06:08:35.161Z,1749103715.161 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-05T06:08:35.161Z,1749103715.161 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-05T06:08:35.161Z,1749103715.161 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T06:08:35.162Z,1749103715.162 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T06:08:35.259Z,1749103715.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502738
2025-06-05T06:08:35.516Z,1749103715.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759446
2025-06-05T06:08:35.767Z,1749103715.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010650
2025-06-05T06:08:36.022Z,1749103716.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264654
2025-06-05T06:08:36.143Z,1749103716.143 [Radio_Surface](INFO): Powering up
2025-06-05T06:08:36.271Z,1749103716.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514568
2025-06-05T06:08:36.523Z,1749103716.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766674
2025-06-05T06:08:36.775Z,1749103716.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018711
2025-06-05T06:08:37.007Z,1749103717.007 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:08:37.027Z,1749103717.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270622
2025-06-05T06:08:37.280Z,1749103717.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523279
2025-06-05T06:08:37.531Z,1749103717.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774507
2025-06-05T06:08:37.784Z,1749103717.784 [DAT](INFO): DAT read: Rx Time:06:08:36.3446
2025-06-05T06:08:37.784Z,1749103717.784 [DAT](INFO): Rx dataTimestamp_ set to:1749103717.783829
2025-06-05T06:08:37.785Z,1749103717.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028186
2025-06-05T06:08:38.013Z,1749103718.013 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:08:38.035Z,1749103718.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278644
2025-06-05T06:08:38.293Z,1749103718.293 [DAT](INFO): DAT read: 06:08:36.3446 LVL= 21360, 32753, 29042, 32755, AGC= 50, IDX= 437, 0.36, 1.880, 0.345, 1.209, 1.402, PHS= 0.566,-1.011,-0.196, RAW= 121.1, 9.4, CAL= 129.3, 5.3, ROT= 20.7, -5.3
2025-06-05T06:08:38.294Z,1749103718.294 [DAT](INFO): got valid direction response:
06:08:36.3446 LVL= 21360, 32753, 29042, 32755, AGC= 50, IDX= 437, 0.36, 1.880, 0.345, 1.209, 1.402, PHS= 0.566,-1.011,-0.196, RAW= 121.1, 9.4, CAL= 129.3, 5.3, ROT= 20.7, -5.3
2025-06-05T06:08:38.296Z,1749103718.296 [DAT](INFO): DAT read: Bearing 20.7, -5.3 (Local)
2025-06-05T06:08:38.296Z,1749103718.296 [DAT](INFO): Local bearing/azimuth received:
Bearing 20.7, -5.3 (Local)
2025-06-05T06:08:38.299Z,1749103718.299 [DAT](INFO): DAT read: Range 10 to 50 : 11.1 m (Round-trip 14.9 ms) speed -0.1 m/s
2025-06-05T06:08:38.300Z,1749103718.300 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:08:38.301Z,1749103718.301 [DAT](INFO): direction in FSK: [0.931445,0.351964,0.092371]
2025-06-05T06:08:38.302Z,1749103718.302 [DAT](INFO): publishing direction and range info
2025-06-05T06:08:41.399Z,1749103721.399 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-06-05T06:08:41.400Z,1749103721.400 [Radio_Surface](INFO): Found local IP address 10.89.10.2 for eth0
2025-06-05T06:09:08.130Z,1749103748.130 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:09:09.135Z,1749103749.135 [DataOverHttps](INFO): Radio surface powered ON.
2025-06-05T06:09:09.135Z,1749103749.135 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:09:39.254Z,1749103779.254 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:09:40.259Z,1749103780.259 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:10:04.538Z,1749103804.538 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, 894, +156,A
2025-06-05T06:10:06.470Z,1749103806.470 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-05T06:10:10.387Z,1749103810.387 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:10:11.392Z,1749103811.392 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:10:24.263Z,1749103824.263 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 646.53, 0.00, 0.00,
2025-06-05T06:10:41.510Z,1749103841.510 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:10:42.515Z,1749103842.515 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:10:46.083Z,1749103846.083 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-06-05T06:10:46.083Z,1749103846.083 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-05T06:10:46.083Z,1749103846.083 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-06-05T06:11:04.369Z,1749103864.369 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -5.49144.74, +2.80, 0.00, 10.00
2025-06-05T06:11:12.662Z,1749103872.662 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:11:13.667Z,1749103873.667 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:11:18.896Z,1749103878.896 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-06-05T06:11:18.970Z,1749103878.970 [NAL9602](ERROR): received:
+CSQ:0
OK135, 2, 0, 0, 0
OK
2025-06-05T06:11:43.786Z,1749103903.786 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:11:44.791Z,1749103904.791 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:11:57.270Z,1749103917.270 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 4.
2025-06-05T06:11:57.273Z,1749103917.273 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 41, 46.
2025-06-05T06:12:10.209Z,1749103930.209 [NAL9602](INFO): SBD MO Status=2, MOMSN=48135, MT Status=2, MTMSN=0
2025-06-05T06:12:10.209Z,1749103930.209 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T06:12:14.911Z,1749103934.911 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T06:12:15.915Z,1749103935.915 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:12:25.439Z,1749103945.439 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003522
2025-06-05T06:12:26.439Z,1749103946.439 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:12:35.635Z,1749103955.635 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:12:44.551Z,1749103964.551 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:12:53.535Z,1749103973.535 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:13:02.379Z,1749103982.379 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:13:11.291Z,1749103991.291 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:13:15.649Z,1749103995.649 [NAL9602](INFO): SBD MO Status=2, MOMSN=48135, MT Status=2, MTMSN=0
2025-06-05T06:13:15.649Z,1749103995.649 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T06:13:20.144Z,1749104000.144 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:13:29.035Z,1749104009.035 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:13:37.999Z,1749104017.999 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:13:46.787Z,1749104026.787 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:13:55.723Z,1749104035.723 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:14:04.533Z,1749104044.533 [NAL9602](INFO): SBD MO Status=2, MOMSN=48135, MT Status=2, MTMSN=0
2025-06-05T06:14:04.534Z,1749104044.534 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T06:14:04.587Z,1749104044.587 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:14:16.427Z,1749104056.427 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:14:17.103Z,1749104057.103 [NAL9602](INFO): SBD MO Status=1, MOMSN=48135, MT Status=0, MTMSN=0
2025-06-05T06:14:17.103Z,1749104057.103 [NAL9602](INFO): No messages in MT queue
2025-06-05T06:14:18.315Z,1749104058.315 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,061417.00,A,3654.38313,N,12207.01453,W,0.583,212.05,050625,,,A*7C
2025-06-05T06:14:18.317Z,1749104058.317 [NAL9602](INFO): GPS fix at 20250605T061417: (36.906385, -122.116909)
2025-06-05T06:14:18.408Z,1749104058.408 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-06-05T06:14:18.408Z,1749104058.408 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-06-05T06:14:25.002Z,1749104065.002 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250605T043138/Courier0036.lzma
2025-06-05T06:14:26.004Z,1749104066.004 [DataOverHttps](INFO): Moved sent file to Logs/20250605T043138/Courier0036.lzma.bak
2025-06-05T06:14:26.004Z,1749104066.004 [DataOverHttps](INFO): SBD MOMSN=25099920
2025-06-05T06:14:42.898Z,1749104082.898 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250605T055548/Courier0000.lzma
2025-06-05T06:14:43.900Z,1749104083.900 [DataOverHttps](INFO): Moved sent file to Logs/20250605T055548/Courier0000.lzma.bak
2025-06-05T06:14:43.900Z,1749104083.900 [DataOverHttps](INFO): SBD MOMSN=25099923
2025-06-05T06:14:50.427Z,1749104090.427 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T06:15:00.786Z,1749104100.786 [DataOverHttps](INFO): Sending 349 bytes from file Logs/20250605T055548/Courier0003.lzma
2025-06-05T06:15:01.789Z,1749104101.789 [DataOverHttps](INFO): Moved sent file to Logs/20250605T055548/Courier0003.lzma.bak
2025-06-05T06:15:01.789Z,1749104101.789 [DataOverHttps](INFO): SBD MOMSN=25099928
2025-06-05T06:15:18.656Z,1749104118.656 [DataOverHttps](INFO): Sending 291 bytes from file Logs/20250605T043138/Express0037.lzma
2025-06-05T06:15:19.656Z,1749104119.656 [DataOverHttps](INFO): Moved sent file to Logs/20250605T043138/Express0037.lzma.bak
2025-06-05T06:15:19.656Z,1749104119.656 [DataOverHttps](INFO): SBD MOMSN=25099932
2025-06-05T06:15:36.480Z,1749104136.480 [DataOverHttps](INFO): Sending 562 bytes from file Logs/20250605T055548/Express0001.lzma
2025-06-05T06:15:37.480Z,1749104137.480 [DataOverHttps](INFO): Moved sent file to Logs/20250605T055548/Express0001.lzma.bak
2025-06-05T06:15:37.480Z,1749104137.480 [DataOverHttps](INFO): SBD MOMSN=25099936
2025-06-05T06:15:54.317Z,1749104154.317 [DataOverHttps](INFO): Sending 1441 bytes from file Logs/20250605T055548/Express0004.lzma
2025-06-05T06:15:55.316Z,1749104155.316 [DataOverHttps](INFO): Moved sent file to Logs/20250605T055548/Express0004.lzma.bak
2025-06-05T06:15:55.316Z,1749104155.316 [DataOverHttps](INFO): SBD MOMSN=25099939
2025-06-05T06:15:57.126Z,1749104157.126 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-06-05T06:15:57.126Z,1749104157.126 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-06-05T06:15:57.126Z,1749104157.126 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-05T06:16:05.263Z,1749104165.263 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:16:15.771Z,1749104175.771 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:16:26.568Z,1749104186.568 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T061625
2025-06-05T06:16:34.846Z,1749104194.846 [DataOverHttps](INFO): Received command: sched asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m" 29yr9 1 2
2025-06-05T06:16:34.859Z,1749104194.859 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m" 29yr9 1 2.000000
2025-06-05T06:16:34.859Z,1749104194.859 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=29yr9
2025-06-05T06:16:34.860Z,1749104194.860 [CommandExec](IMPORTANT): Scheduled #16 (#1 of 2 with id='29yr9'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m", ASAP
2025-06-05T06:16:35.848Z,1749104195.848 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T061635
2025-06-05T06:16:43.742Z,1749104203.742 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 29yr9 2 2
2025-06-05T06:16:43.781Z,1749104203.781 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 29yr9 2 2.000000
2025-06-05T06:16:43.782Z,1749104203.782 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=29yr9
2025-06-05T06:16:43.783Z,1749104203.783 [CommandExec](IMPORTANT): Scheduled #17 (#2 of 2 with id='29yr9'): "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", ASAP
2025-06-05T06:16:43.931Z,1749104203.931 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl
2025-06-05T06:16:43.932Z,1749104203.932 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl
2025-06-05T06:16:43.932Z,1749104203.932 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl
2025-06-05T06:16:43.936Z,1749104203.936 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl
2025-06-05T06:16:44.744Z,1749104204.744 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T061644
2025-06-05T06:16:55.345Z,1749104215.345 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into:
3
180
3
1
5
4
1.5
1.5
60
2
2
5
1
120
40
5
NaN
10
NaN
4
205
2
20
0.05
NaN
NaN
NaN
60
-1
1
1
0
0
0
No longer in Terminal. Resuming normal ranging with
pings.
5
Entering USBL mode with
pings at
(mode
).
5
Resuming normal ranging with
pings
(mode
).
5
Entering Midcourse tracking update period
sec at
(mode
).
5
0
Entering Terminal tracking update period
sec at
(mode
).
Restarting DHCP...
! /mnt/mmc/LRAUV/Tools/dhcp.sh
Restarting logs
restart logs
Timed out trying to reach the target depth. Stopping mission at current depth of
stop
1
-99
Mode
0
Waiting on dock for
Retrying incomplete docking attempt
1
Breaking off. Range:
.
Driving to post-undock waypoint
,
No post-undock waypoint, drifting for
minutes
0
0
0
2025-06-05T06:16:55.428Z,1749104215.428 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 3.000000 h
2025-06-05T06:16:55.436Z,1749104215.436 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 180.000000 min
2025-06-05T06:16:55.450Z,1749104215.450 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 3.000000 h
2025-06-05T06:16:55.452Z,1749104215.452 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2025-06-05T06:16:55.463Z,1749104215.463 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min
2025-06-05T06:16:55.465Z,1749104215.465 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool
2025-06-05T06:16:55.483Z,1749104215.483 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool
2025-06-05T06:16:55.485Z,1749104215.485 [MissionManager](INFO): DefineArg lineCaptureHoming.RetryIncompleteDock = 0 bool
2025-06-05T06:16:55.491Z,1749104215.491 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 4.000000 count
2025-06-05T06:16:55.493Z,1749104215.493 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 1.500000 min
2025-06-05T06:16:55.504Z,1749104215.504 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 1.500000 min
2025-06-05T06:16:55.514Z,1749104215.514 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 50 count
2025-06-05T06:16:55.517Z,1749104215.517 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s
2025-06-05T06:16:55.523Z,1749104215.523 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.000000 s
2025-06-05T06:16:55.525Z,1749104215.525 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min
2025-06-05T06:16:55.544Z,1749104215.544 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count
2025-06-05T06:16:55.546Z,1749104215.546 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2025-06-05T06:16:55.556Z,1749104215.556 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 120.000000 count
2025-06-05T06:16:55.567Z,1749104215.567 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m
2025-06-05T06:16:55.569Z,1749104215.569 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count
2025-06-05T06:16:55.580Z,1749104215.580 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m
2025-06-05T06:16:55.582Z,1749104215.582 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 10.000000 min
2025-06-05T06:16:55.608Z,1749104215.608 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m
2025-06-05T06:16:55.618Z,1749104215.618 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 4.000000 m
2025-06-05T06:16:55.620Z,1749104215.620 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2025-06-05T06:16:55.631Z,1749104215.631 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2025-06-05T06:16:55.633Z,1749104215.633 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min
2025-06-05T06:16:55.644Z,1749104215.644 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s
2025-06-05T06:16:55.646Z,1749104215.646 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg
2025-06-05T06:16:55.660Z,1749104215.660 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg
2025-06-05T06:16:55.667Z,1749104215.667 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m
2025-06-05T06:16:55.669Z,1749104215.669 [MissionManager](INFO): DefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 bool
2025-06-05T06:16:55.684Z,1749104215.684 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m
2025-06-05T06:16:55.693Z,1749104215.693 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s
2025-06-05T06:16:55.712Z,1749104215.712 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s
2025-06-05T06:16:55.742Z,1749104215.742 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count
2025-06-05T06:16:55.745Z,1749104215.745 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count
2025-06-05T06:16:55.763Z,1749104215.763 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count
2025-06-05T06:16:55.765Z,1749104215.765 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool
2025-06-05T06:16:55.780Z,1749104215.780 [MissionManager](INFO): DefineOutput lineCaptureHoming.EndDockingSequence = 0 bool
2025-06-05T06:16:55.782Z,1749104215.782 [MissionManager](INFO): DefineOutput lineCaptureHoming.LastDockSuccessful = 0 bool
2025-06-05T06:16:55.796Z,1749104215.796 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 count
2025-06-05T06:16:55.819Z,1749104215.819 [MissionManager](INFO): DefineOutput lineCaptureHoming.RepeatArg = 1.000000 count
2025-06-05T06:16:55.820Z,1749104215.820 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-05T06:16:55.820Z,1749104215.820 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-05T06:16:55.836Z,1749104215.836 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-05T06:16:56.814Z,1749104216.814 [DataOverHttps](INFO): Received command: schedule resume
2025-06-05T06:16:58.819Z,1749104218.819 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:16:59.696Z,1749104219.696 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
NaN
3
100
80
20
5
NaN
NaN
2.0
NaN
NaN
0
NaN
NaN
5
0
0
0
0
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
PeakDetectVsDepth
EdgeDetectVsDepth
GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth =
,
,
,
,
,
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
_.planktivore_LM_AvgRois
EdgeDetectVsDepth
_.planktivore_LM_AvgRois
GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_HM_AvgRois
EdgeDetectVsDepth
_.planktivore_HM_AvgRois
GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_diatoms
EdgeDetectVsDepth
_.planktivore_diatoms
GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_dinoflagellates
EdgeDetectVsDepth
_.planktivore_dinoflagellates
GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth =
,
,
,
,
,
Triggered. PeakChl values on
consecutive yo-yo profiles fall in [
] (NaN bound is ignored).
2025-06-05T06:16:59.724Z,1749104219.724 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectChlActive = 0 bool
2025-06-05T06:16:59.747Z,1749104219.747 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectChlActive = 0 bool
2025-06-05T06:16:59.749Z,1749104219.749 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.TimeWindowPeakReport = nan min
2025-06-05T06:16:59.799Z,1749104219.799 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestChlPeakReportActive = 0 bool
2025-06-05T06:16:59.801Z,1749104219.801 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestSaltPeakReportActive = 0 bool
2025-06-05T06:16:59.805Z,1749104219.805 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestOilPeakReportActive = 0 bool
2025-06-05T06:16:59.820Z,1749104219.820 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PatchTracking = 0 bool
2025-06-05T06:16:59.822Z,1749104219.822 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.FilterWidthHorizontal = 3.000000 count
2025-06-05T06:16:59.828Z,1749104219.828 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-05T06:16:59.843Z,1749104219.843 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-05T06:16:59.851Z,1749104219.851 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectNO3Active = 0 bool
2025-06-05T06:16:59.853Z,1749104219.853 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectOilActive = 0 bool
2025-06-05T06:16:59.855Z,1749104219.855 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectFDOMActive = 0 bool
2025-06-05T06:16:59.857Z,1749104219.857 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectSalinityActive = 0 bool
2025-06-05T06:16:59.868Z,1749104219.868 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T06:16:59.869Z,1749104219.869 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T06:16:59.892Z,1749104219.892 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T06:16:59.894Z,1749104219.894 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T06:16:59.901Z,1749104219.901 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T06:16:59.904Z,1749104219.904 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T06:16:59.916Z,1749104219.916 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T06:16:59.921Z,1749104219.921 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T06:16:59.942Z,1749104219.942 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-05T06:16:59.945Z,1749104219.945 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool
2025-06-05T06:16:59.951Z,1749104219.951 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool
2025-06-05T06:16:59.966Z,1749104219.966 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledRBRTridente = 0 bool
2025-06-05T06:16:59.969Z,1749104219.969 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool
2025-06-05T06:16:59.987Z,1749104219.987 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-05T06:16:59.989Z,1749104219.989 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-05T06:16:59.996Z,1749104219.996 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 1 bool
2025-06-05T06:17:00.003Z,1749104220.003 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count
2025-06-05T06:17:00.005Z,1749104220.005 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count
2025-06-05T06:17:00.012Z,1749104220.012 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ShallowBound = nan m
2025-06-05T06:17:00.018Z,1749104220.018 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DeepBound = nan m
2025-06-05T06:17:00.020Z,1749104220.020 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-05T06:17:00.027Z,1749104220.027 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalAscent = nan %
2025-06-05T06:17:00.029Z,1749104220.029 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalDescent = nan %
2025-06-05T06:17:00.036Z,1749104220.036 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-05T06:17:00.038Z,1749104220.038 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool
2025-06-05T06:17:00.048Z,1749104220.048 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l
2025-06-05T06:17:00.054Z,1749104220.054 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l
2025-06-05T06:17:00.057Z,1749104220.057 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count
2025-06-05T06:17:00.076Z,1749104220.076 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-05T06:17:00.078Z,1749104220.078 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-05T06:17:00.084Z,1749104220.084 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-05T06:17:00.093Z,1749104220.093 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-05T06:17:00.108Z,1749104220.108 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.GoDown = 1 bool
2025-06-05T06:17:00.115Z,1749104220.115 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l
2025-06-05T06:17:00.118Z,1749104220.118 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m
2025-06-05T06:17:00.145Z,1749104220.145 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC
2025-06-05T06:17:00.196Z,1749104220.196 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg
2025-06-05T06:17:00.204Z,1749104220.204 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg
2025-06-05T06:17:00.206Z,1749104220.206 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChl = nan ug/l
2025-06-05T06:17:00.208Z,1749104220.208 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlDepth = nan m
2025-06-05T06:17:00.212Z,1749104220.212 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlTemperature = nan degC
2025-06-05T06:17:00.234Z,1749104220.234 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLatitude = nan arcdeg
2025-06-05T06:17:00.237Z,1749104220.237 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLongitude = nan arcdeg
2025-06-05T06:17:00.263Z,1749104220.263 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l
2025-06-05T06:17:00.265Z,1749104220.265 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m
2025-06-05T06:17:00.276Z,1749104220.276 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg
2025-06-05T06:17:00.283Z,1749104220.283 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg
2025-06-05T06:17:00.285Z,1749104220.285 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3
2025-06-05T06:17:00.308Z,1749104220.308 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m
2025-06-05T06:17:00.326Z,1749104220.326 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLatitude = nan arcdeg
2025-06-05T06:17:00.329Z,1749104220.329 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLongitude = nan arcdeg
2025-06-05T06:17:00.351Z,1749104220.351 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOM = nan ppb
2025-06-05T06:17:00.359Z,1749104220.359 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMDepth = nan m
2025-06-05T06:17:00.366Z,1749104220.366 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMTemperature = nan degC
2025-06-05T06:17:00.370Z,1749104220.370 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLatitude = nan arcdeg
2025-06-05T06:17:00.381Z,1749104220.381 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLongitude = nan arcdeg
2025-06-05T06:17:00.392Z,1749104220.392 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSalt = nan psu
2025-06-05T06:17:00.394Z,1749104220.394 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m
2025-06-05T06:17:00.400Z,1749104220.400 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC
2025-06-05T06:17:00.407Z,1749104220.407 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg
2025-06-05T06:17:00.409Z,1749104220.409 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg
2025-06-05T06:17:00.420Z,1749104220.420 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-05T06:17:00.426Z,1749104220.426 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-05T06:17:00.429Z,1749104220.429 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-05T06:17:00.435Z,1749104220.435 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T06:17:00.438Z,1749104220.438 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T06:17:00.440Z,1749104220.440 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-05T06:17:00.451Z,1749104220.451 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-05T06:17:00.453Z,1749104220.453 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-05T06:17:00.463Z,1749104220.463 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T06:17:00.466Z,1749104220.466 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T06:17:00.468Z,1749104220.468 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-05T06:17:00.475Z,1749104220.475 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-05T06:17:00.478Z,1749104220.478 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-05T06:17:00.495Z,1749104220.495 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T06:17:00.497Z,1749104220.497 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T06:17:00.512Z,1749104220.512 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-05T06:17:00.519Z,1749104220.519 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-05T06:17:00.521Z,1749104220.521 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-05T06:17:00.532Z,1749104220.532 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T06:17:00.534Z,1749104220.534 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T06:17:00.537Z,1749104220.537 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-05T06:17:00.551Z,1749104220.551 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-05T06:17:00.554Z,1749104220.554 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-05T06:17:00.560Z,1749104220.560 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T06:17:00.599Z,1749104220.599 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T06:17:00.604Z,1749104220.604 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-05T06:17:00.607Z,1749104220.607 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-05T06:17:00.609Z,1749104220.609 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-05T06:17:00.620Z,1749104220.620 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T06:17:00.630Z,1749104220.630 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T06:17:00.640Z,1749104220.640 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-05T06:17:00.644Z,1749104220.644 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-05T06:17:00.656Z,1749104220.656 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T06:17:00.659Z,1749104220.659 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T06:17:00.671Z,1749104220.671 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T06:17:00.690Z,1749104220.690 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-05T06:17:00.693Z,1749104220.693 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-05T06:17:00.697Z,1749104220.697 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T06:17:00.711Z,1749104220.711 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T06:17:00.714Z,1749104220.714 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T06:17:00.720Z,1749104220.720 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l
2025-06-05T06:17:00.723Z,1749104220.723 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m
2025-06-05T06:17:00.725Z,1749104220.725 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg
2025-06-05T06:17:00.736Z,1749104220.736 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg
2025-06-05T06:17:00.747Z,1749104220.747 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m
2025-06-05T06:17:00.749Z,1749104220.749 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSalt = nan psu
2025-06-05T06:17:00.756Z,1749104220.756 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m
2025-06-05T06:17:00.763Z,1749104220.763 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg
2025-06-05T06:17:00.765Z,1749104220.765 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg
2025-06-05T06:17:00.775Z,1749104220.775 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m
2025-06-05T06:17:00.778Z,1749104220.778 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOil = nan psu
2025-06-05T06:17:00.780Z,1749104220.780 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m
2025-06-05T06:17:00.787Z,1749104220.787 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg
2025-06-05T06:17:00.789Z,1749104220.789 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg
2025-06-05T06:17:00.796Z,1749104220.796 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m
2025-06-05T06:17:00.801Z,1749104220.801 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool
2025-06-05T06:17:00.815Z,1749104220.815 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/l
2025-06-05T06:17:00.911Z,1749104220.911 [lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T06:17:00.995Z,1749104220.995 [lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T06:17:01.093Z,1749104221.093 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T06:17:01.181Z,1749104221.181 [lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T06:17:01.217Z,1749104221.217 [lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T06:17:01.252Z,1749104221.252 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T06:17:01.299Z,1749104221.299 [lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T06:17:01.335Z,1749104221.335 [lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T06:17:01.401Z,1749104221.401 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T06:17:01.469Z,1749104221.469 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T06:17:01.532Z,1749104221.532 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T06:17:01.598Z,1749104221.598 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T06:17:01.651Z,1749104221.651 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T06:17:01.713Z,1749104221.713 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T06:17:01.797Z,1749104221.797 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T06:17:01.895Z,1749104221.895 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T06:17:01.951Z,1749104221.951 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T06:17:02.016Z,1749104222.016 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-05T06:17:02.034Z,1749104222.034 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-05T06:17:02.038Z,1749104222.038 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-05T06:17:02.039Z,1749104222.039 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-05T06:17:02.388Z,1749104222.388 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-06-05T06:17:02.401Z,1749104222.401 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-05T06:17:02.416Z,1749104222.416 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-05T06:17:02.427Z,1749104222.427 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-05T06:17:02.429Z,1749104222.429 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-05T06:17:02.438Z,1749104222.438 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T06:17:02.448Z,1749104222.448 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T06:17:02.480Z,1749104222.480 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-05T06:17:02.513Z,1749104222.513 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-05T06:17:02.513Z,1749104222.513 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-05T06:17:02.527Z,1749104222.527 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-05T06:17:03.080Z,1749104223.080 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
1
10
20
NaN
1
1000
7
30
0
last time_fix was:
first GPS update timeout
Comms timed out after
minutes
second GPS update timeout
2025-06-05T06:17:03.111Z,1749104223.111 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h
2025-06-05T06:17:03.123Z,1749104223.123 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-05T06:17:03.125Z,1749104223.125 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-05T06:17:03.131Z,1749104223.131 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2025-06-05T06:17:03.134Z,1749104223.134 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-05T06:17:03.160Z,1749104223.160 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-05T06:17:03.171Z,1749104223.171 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2025-06-05T06:17:03.173Z,1749104223.173 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2025-06-05T06:17:03.208Z,1749104223.208 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-05T06:17:03.258Z,1749104223.258 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl
2025-06-05T06:17:03.258Z,1749104223.258 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl
2025-06-05T06:17:03.263Z,1749104223.263 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl
2025-06-05T06:17:03.349Z,1749104223.349 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/MicromodemComms.tl translated into:
10
5
2025-06-05T06:17:03.363Z,1749104223.363 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min
2025-06-05T06:17:03.366Z,1749104223.366 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min
2025-06-05T06:17:03.382Z,1749104223.382 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval
2025-06-05T06:17:03.385Z,1749104223.385 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl
2025-06-05T06:17:03.386Z,1749104223.386 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl
2025-06-05T06:17:03.444Z,1749104223.444 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl
2025-06-05T06:17:05.987Z,1749104225.987 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/LineCapture.tl translated into:
30
0.0
1
0.01
0.001
2
8
1
NaN
NaN
NaN
0.0
0
NaN
-1
0
1
2
3
1
5
0
0
Timed out while trying to detach from dock at current depth of
.
Transitioning to midcourse guidance.
Navigating to dock waypoint (
,
)
Transitioning to terminal guidance at range
Terminating homing sequence: timed out while navigating to the dock waypoint.
Executing search pattern.
Timed out while executing search pattern around dock waypoint.
Homing sequence timed out prior to docking.
Terminal guidance.
Transitioning to midcourse guidance. Received last range of
ago.
Docked. Homing sequence complete.
3
GuidanceMode
2025-06-05T06:17:06.006Z,1749104226.006 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.905698 arcdeg
2025-06-05T06:17:06.030Z,1749104226.030 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -122.116120 arcdeg
2025-06-05T06:17:06.036Z,1749104226.036 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min
2025-06-05T06:17:06.043Z,1749104226.043 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m
2025-06-05T06:17:06.046Z,1749104226.046 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s
2025-06-05T06:17:06.053Z,1749104226.053 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h
2025-06-05T06:17:06.060Z,1749104226.060 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m
2025-06-05T06:17:06.067Z,1749104226.067 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min
2025-06-05T06:17:06.069Z,1749104226.069 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2025-06-05T06:17:06.116Z,1749104226.116 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min
2025-06-05T06:17:06.163Z,1749104226.163 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m
2025-06-05T06:17:06.199Z,1749104226.199 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m
2025-06-05T06:17:06.201Z,1749104226.201 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool
2025-06-05T06:17:06.215Z,1749104226.215 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m
2025-06-05T06:17:06.218Z,1749104226.218 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg
2025-06-05T06:17:06.248Z,1749104226.248 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m
2025-06-05T06:17:06.263Z,1749104226.263 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m
2025-06-05T06:17:06.265Z,1749104226.265 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m
2025-06-05T06:17:06.279Z,1749104226.279 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m
2025-06-05T06:17:06.282Z,1749104226.282 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min
2025-06-05T06:17:06.296Z,1749104226.296 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m
2025-06-05T06:17:06.310Z,1749104226.310 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2025-06-05T06:17:06.313Z,1749104226.313 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min
2025-06-05T06:17:06.327Z,1749104226.327 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m
2025-06-05T06:17:06.330Z,1749104226.330 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count
2025-06-05T06:17:06.344Z,1749104226.344 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count
2025-06-05T06:17:06.355Z,1749104226.355 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count
2025-06-05T06:17:06.357Z,1749104226.357 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count
2025-06-05T06:17:06.376Z,1749104226.376 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count
2025-06-05T06:17:06.390Z,1749104226.390 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count
2025-06-05T06:17:06.401Z,1749104226.401 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m
2025-06-05T06:17:06.416Z,1749104226.416 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 count
2025-06-05T06:17:06.442Z,1749104226.442 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-05T06:17:06.443Z,1749104226.443 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-05T06:17:06.444Z,1749104226.444 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-05T06:17:06.781Z,1749104226.781 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-06-05T06:17:06.820Z,1749104226.820 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-05T06:17:06.834Z,1749104226.834 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-05T06:17:06.837Z,1749104226.837 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-05T06:17:06.847Z,1749104226.847 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-05T06:17:06.848Z,1749104226.848 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T06:17:06.878Z,1749104226.878 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T06:17:06.893Z,1749104226.893 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-05T06:17:06.951Z,1749104226.951 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Construct.
2025-06-05T06:17:06.978Z,1749104226.978 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T06:17:06.992Z,1749104226.992 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2025-06-05T06:17:06.993Z,1749104226.993 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-05T06:17:07.095Z,1749104227.095 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2025-06-05T06:17:07.097Z,1749104227.097 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2025-06-05T06:17:07.122Z,1749104227.122 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T06:17:07.160Z,1749104227.160 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2025-06-05T06:17:07.188Z,1749104227.188 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2025-06-05T06:17:07.222Z,1749104227.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2025-06-05T06:17:07.238Z,1749104227.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2025-06-05T06:17:07.258Z,1749104227.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2025-06-05T06:17:07.288Z,1749104227.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-06-05T06:17:07.288Z,1749104227.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-05T06:17:07.296Z,1749104227.296 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Construct Wait.
2025-06-05T06:17:07.574Z,1749104227.574 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute.
2025-06-05T06:17:07.577Z,1749104227.577 [lineCaptureHoming:BA.Execute](DEBUG): Construct Execute.
2025-06-05T06:17:07.588Z,1749104227.588 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct.
2025-06-05T06:17:07.596Z,1749104227.596 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Construct.
2025-06-05T06:17:07.603Z,1749104227.603 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Construct.
2025-06-05T06:17:07.613Z,1749104227.613 [lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-06-05T06:17:07.649Z,1749104227.649 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl
2025-06-05T06:17:07.649Z,1749104227.649 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl
2025-06-05T06:17:07.655Z,1749104227.655 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl
2025-06-05T06:17:07.881Z,1749104227.881 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into:
Reseting nav to dock location at range
2025-06-05T06:17:07.913Z,1749104227.913 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.905698 arcdeg
2025-06-05T06:17:07.936Z,1749104227.936 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.116120 arcdeg
2025-06-05T06:17:07.949Z,1749104227.949 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m
2025-06-05T06:17:07.961Z,1749104227.961 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min
2025-06-05T06:17:07.995Z,1749104227.995 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2025-06-05T06:17:08.018Z,1749104228.018 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct.
2025-06-05T06:17:08.018Z,1749104228.018 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-06-05T06:17:08.069Z,1749104228.069 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2025-06-05T06:17:08.069Z,1749104228.069 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2025-06-05T06:17:08.093Z,1749104228.093 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct.
2025-06-05T06:17:08.108Z,1749104228.108 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct.
2025-06-05T06:17:08.115Z,1749104228.115 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T06:17:08.195Z,1749104228.195 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T06:17:08.202Z,1749104228.202 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct.
2025-06-05T06:17:08.212Z,1749104228.212 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct.
2025-06-05T06:17:08.222Z,1749104228.222 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct.
2025-06-05T06:17:08.271Z,1749104228.271 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait.
2025-06-05T06:17:08.518Z,1749104228.518 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission lineCaptureHoming {
"""
Home to transponder while maintaining altitude or depth. Altitude gets
priority if non nan. The mission sequence: (*) Start (1) Midcourse
guidance: nav to target WP while querying transponder (2) Terminal
guidance: home to target using USBL tracking data (4) Dock: final
approach using fixed heading.
"""
# Define mission arguments
arguments {
MissionTimeout = 3 hour
"""
Maximum length of mission
"""
NeedCommsTime = 180 minute
"""
How often to surface for commumications
"""
MicromodemCommsInterval = 3 hour
"""
How often to trigger Umodem communications
"""
Repeat = 1 count
"""
Number of times the vehicle should try to cycle through the homing
sequence.
"""
WaitOnDockTimeout = 5 minute
"""
Time duration to wait on the dock after a successful line capture.
"""
StayOnDock = false
"""
If true, mission terminates after WaitOnDockTimeout following a successful
capture, without executing the undock sequence.
"""
TrySlide = false
"""
If true, once docked, try to slide down the docking rod until charging and
comms are acheived
"""
RetryIncompleteDock = false
"""
If true, restart docking sequence in event of a successful capture but
unsuccessful slide
"""
SlideRetries = 4 count
"""
If using slide mode, max number of times to try the slide sequence before
giving up
"""
SlideSinkDuration = 1.5 minute
"""
Time duration to slide down by sinking during each slide mode iteration
"""
SlideCloseDuration = 1.5 minute
"""
Time duration to close arm to check for power/comms during each slide mode
iteration
"""
TransponderCode = Dock:Dock.transponderCode
"""
Transponder Address.
"""
TrackingUpdatePeriodMidcourse = 60 second
"""
How long to wait between acoustic queries.
"""
TrackingUpdatePeriodTerminal = 2 second
"""
How long to wait between acoustic queries.
"""
TrackingUpdatePeriodDocked = 2 minute
"""
How long to wait between acoustic queries.
"""
TrackingNumFixesLowPassFilter = 5 count
"""
Median filter bin size. Filters the contact estimated lat/lon position.
Prefer odd number, set to 1 to disable filter.
"""
NumberOfPings = 1 count
"""
Number of pings requested each time.
"""
NumPingsUSBL = 120 count
"""
Number of pings requested while in USBL mode range.
"""
RangeUSBL = 40 meter
"""
USBL mode range.
"""
TrackingNumFixesLowPassFilterUSBL = 5 count
"""
Median filter bin size. Filters the contact estimated lat/lon position.
Prefer odd number, set to 1 to disable filter.
"""
DockingAltitude = NaN meter
"""
Docking altitude. Ignored when NaN and used over depth when a valid
altitude is set.
"""
InvalidAltitudeTimeout = 10 minute
"""
The mission will use the last good depth command if no valid altitude
readings are received within this specified time duration.
"""
AltitudeDepthLimit = NaN meter
"""
Vehicle will not be commanded deeper than this regardless of altitude
command.
"""
MinAltitude = 4 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MaxDepth = 205 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 2 kilometer
"""
Minimum offshore distance for the entire mission.
"""
ApproachDepthTimeout = 20 minute
"""
Maximum wait time for the vehicle to reach the target depth on initial
dive.
"""
ApproachDepthRate = 0.05 meter_per_second
"""
Descent depth rate (positive depth is down). Used only as a smoothing
parameter.
"""
Lat1 = NaN degree
"""
Latitude of rollout waypoint. If nan, waypoint is skipped.
"""
Lon1 = NaN degree
"""
Longitude of rollout waypoint. If nan, waypoint is skipped.
"""
CaptureRadius = NaN meter
"""
How close to call the waypiont behavior satisfied. Nan uses default
value.
"""
CorrectForSoundSpeed = false
"""
Whether or not to apply sound speed correction to acoustic ranges
"""
# Mission Variables (don't change)
MidcourseDepth = Dock:LineCapture.midcourseDepth
"""
Desired vehicle depth when navigating to dock WP (during midcourse
phase).
"""
MidcourseSpeed = Dock:LineCapture.midcourseSpeed
"""
Speed during initial dive and waypoint.
"""
TrackingPeriod = 60 second
"""
Mission variable (don't change). The mission sets this variable to
update the how long to wait between acoustic queries.
"""
}
output {
Mode = -1 count
"""
Mission variable (don't change). The mission sets this variable to
reflect the termination status of the LineCapture insert.
"""
NumPings = 1 count
"""
Mission variable (don't change). The mission sets this variable to
update the requested ping number and enter usbl mode.
"""
LowPassFilterWinSize = 1 count
"""
Mission variable (don't change). The mission sets this variable to
update the requested ping number and enter usbl mode.
"""
LowPassFilterWinOverlap = true
"""
Mission variable (don't change). The mission sets this variable to
update the requested ping number and enter usbl mode.
"""
EndDockingSequence = StayOnDock
"""
Mission variable (don't change). The mission sets this variable to
determine whether or not to restart the docking sequence upon
completion of the Docked behavior.
"""
LastDockSuccessful = false
"""
Mission variable (don't change). The mission sets this variable based
on the last run of the Docked behavior
"""
DockSuccessfulCount = 0 count
"""
Mission variable (don't change). The mission sets this variable to
track the number of complete docking attempts
"""
RepeatArg = Repeat
"""
Mission variable (don't change). Actual number of Lap repetitions
"""
}
# Mission timeout
timeout duration=MissionTimeout
insert Insert/Science.tl {
"""
Most missions will run the science sensors. If you don't place this
aggregate above NeedComms, science instruments get turned off on the
last upcast and while floating on the surface.
"""
}
# Safety nets and surfacing behaviors
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
assign in sequence NeedComms:WaitForPitchUp = 0 minute
# Micromodem comms
insert id="MicromodemComms" Insert/MicromodemComms.tl {
redefineArg CommsInterval = MicromodemCommsInterval
}
readData {
while (
Mode >= 0 count
and Sensor:DataOverHttps.connectionStatus == true
)
Universal:platform_communications
}
# Add LineCapture directives.
insert Insert/LineCapture.tl
assign in sequence LineCapture:MaxDepth = MaxDepth
assign in sequence LineCapture:MinOffshore = MinOffshore
assign in sequence LineCapture:MinAltitude = MinAltitude
assign in sequence LineCapture:DockingAltitude = DockingAltitude
assign in sequence LineCapture:InvalidAltitudeTimeout = InvalidAltitudeTimeout
assign in sequence LineCapture:AltitudeDepthLimit = AltitudeDepthLimit
# Add track acoustic contact directive.
assign in sequence NumPings = NumberOfPings
behavior Estimation:TrackAcousticContact id="TrackAC" {
run in parallel
set contactLabelSetting = TransponderCode
set numberOfSamplesSetting = NumPings
set updatePeriodSetting = TrackingPeriod
set numFixesLowPassSetting = LowPassFilterWinSize
set lowPassOverlapSetting = LowPassFilterWinOverlap
set useSoundSpeedCorrectionSetting = CorrectForSoundSpeed
}
# Add USBL mode directives.
aggregate UpdateNumPings_NotTerminal {
run while (
not ( LineCapture:GuidanceMode == LineCapture:Terminal )
and not ( NumPings == NumberOfPings )
)
syslog info "No longer in Terminal. Resuming normal ranging with " + NumberOfPings~count
+ "pings."
assign in sequence NumPings = NumberOfPings
assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
assign in sequence LowPassFilterWinOverlap = true
}
aggregate UpdateNumPings_Terminal {
run while (
LineCapture:GuidanceMode == LineCapture:Terminal
)
aggregate UpdateNumPingsUSBL {
run when (
not ( NumPings == NumPingsUSBL )
and (
( LineCapture:Range < RangeUSBL ) # don't enter USBL mode during rollout
and not ( Dock:LineCapture.guidanceMode == 5 count )
)
)
syslog info "Entering USBL mode with " + NumPingsUSBL~count + "pings at "
+ LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
assign in sequence NumPings = NumPingsUSBL
assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilterUSBL
assign in sequence LowPassFilterWinOverlap = true
}
aggregate UpdateNumPingsATR {
run when (
not ( NumPings == NumberOfPings )
and (
( LineCapture:Range >= RangeUSBL ) # do ATR mode during rollout
or Dock:LineCapture.guidanceMode == 5 count
)
)
syslog info "Resuming normal ranging with " + NumberOfPings~count + "pings "
+ LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
assign in sequence NumPings = NumberOfPings
assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
assign in sequence LowPassFilterWinOverlap = true
}
}
aggregate UpdatePingUpdateRate_Midcourse {
run when (
not ( TrackingPeriod == TrackingUpdatePeriodMidcourse )
and (
( LineCapture:Range > LineCapture:TerminalRange ) # do slow ping mode during rollout
or Dock:LineCapture.guidanceMode == 5 count
)
)
syslog info "Entering Midcourse tracking update period " + TrackingUpdatePeriodMidcourse~second
+ "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
assign in sequence TrackingPeriod = TrackingUpdatePeriodMidcourse
assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
assign in sequence LowPassFilterWinOverlap = true
}
aggregate UpdatePingUpdateRate_Terminal {
run when (
not ( TrackingPeriod == TrackingUpdatePeriodTerminal )
and (
( LineCapture:Range <= LineCapture:TerminalRange )
and not ( Dock:LineCapture.guidanceMode == 5 count )
and not ( LineCapture:GuidanceMode == 0 count )
) # don't enter fast ping mode during rollout or on dock
)
syslog info "Entering Terminal tracking update period " + TrackingUpdatePeriodTerminal~second
+ "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
assign in sequence TrackingPeriod = TrackingUpdatePeriodTerminal
assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
assign in sequence LowPassFilterWinOverlap = true
}
aggregate restartDHCP {
run when ( called )
syslog important "Restarting DHCP..."
behavior Guidance:Execute {
run in sequence
set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh"
}
}
# Start mission sequence.
call id="StartingMission" priorityHere=false refId="NeedComms"
syslog important "Restarting logs"
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
aggregate InitialDive {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = MidcourseSpeed
}
behavior Guidance:Mass {
run in parallel
set position = Control:VerticalControl.massDefault
}
behavior Guidance:Pitch {
run in sequence
timeout duration=ApproachDepthTimeout {
syslog important "Timed out trying to reach the target depth. Stopping mission at current depth of "
+ Universal:depth~meter
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
set depth = MidcourseDepth
set depthRate = ApproachDepthRate
}
}
# I'd like to avoid a recursive call of Lap, so "retry" is implemented by incrementing the
# required repetition count (which has just been decremented by the lap attempt).
# But that repeat check is evaluated at the beginning of the aggregate, not the end.
# In order to be able to retry an incomplete docking attempt on the last lap
# we need to make it back up to the top of the Lap aggregate somehow.
# Solve this by quietly setting the repeat count to one more than actually desired.
# The DockSuccessfulCount check will break the Lap aggregate before it runs the extra
# lap, but starting the Lap aggregate will allow us to check the repeat on each run.
aggregate RepeatHack {
run in sequence
break if ( not RetryIncompleteDock )
assign in sequence RepeatArg = Repeat + 1 count
}
aggregate Lap {
run in sequence repeat=RepeatArg
break if (
( StayOnDock
and LastDockSuccessful
)
or (
RetryIncompleteDock
# Can't trust RepeatArg with retry, it's been incremented to allow re-evaluation of the count
and ( DockSuccessfulCount == Repeat )
)
)
assign in sequence Mode = -99 count
# Execute the LineCapture sequence.
call priorityHere=false refId="LineCapture"
assign in sequence Mode = LineCapture:GuidanceMode
syslog info "Mode" + Mode~count
call priorityHere=false refId="restartDHCP"
aggregate Docked {
run in sequence
break if ( Mode < 0 count )
syslog info "Waiting on dock for " + WaitOnDockTimeout~minute
# Add SetNav directives.
insert Insert/SetNavAcoustic.tl
assign in sequence TrackingPeriod = TrackingUpdatePeriodDocked
assign in sequence EndDockingSequence = StayOnDock
behavior Dock:Docked id="Docked" {
run in sequence
timeout duration=WaitOnDockTimeout
set slideSinkTime = SlideSinkDuration
set slideCloseTime = SlideCloseDuration
set slideRetries = SlideRetries
set slideAllowed = TrySlide
outputArg LastDockSuccessful = dockSuccessful
}
# If retrying incomplete attempts require total success to skip rollout, not just StayOnDock
aggregate setCompletion {
run in sequence
break if ( not RetryIncompleteDock )
assign in sequence EndDockingSequence = ( LastDockSuccessful
and StayOnDock
)
assign in sequence DockSuccessfulCount = DockSuccessfulCount + LastDockSuccessful
aggregate setRetry {
run in sequence
break if ( LastDockSuccessful )
syslog important "Retrying incomplete docking attempt"
# This lap failed and doesn't "count", so repeat one additional time
assign in sequence RepeatArg = RepeatArg + 1 count
}
}
aggregate Detach {
run in sequence
break if ( EndDockingSequence )
syslog important "Breaking off. Range: " + Universal:acoustic_contact_range~meter + "."
behavior Dock:Undock id="Undock" {
run in sequence
}
call priorityHere=false refId="restartDHCP"
}
aggregate Wpt1 {
run in sequence
break if (
isNaN ( Lat1 )
or isNaN ( Lon1 )
or ( EndDockingSequence )
)
syslog important "Driving to post-undock waypoint " + Lat1~degree + "," + Lon1~degree
behavior Guidance:Pitch {
run in parallel
set depth = MidcourseDepth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = MidcourseSpeed
}
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat1
set longitude = Lon1
set captureRadius = CaptureRadius
}
}
aggregate Drift {
"""
Drift before next docking attempt
"""
run in sequence
break if (
not isNaN ( Lat1 )
and not isNaN ( Lon1 )
or ( EndDockingSequence )
)
syslog important "No post-undock waypoint, drifting for "
+ Dock:LineCapture.rolloutTimeout~minute + " minutes"
behavior Guidance:Buoyancy {
run in parallel
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch {
run in parallel
set massPosition = Control:VerticalControl.massDefault
set elevatorAngle = 0 degree
}
behavior Guidance:Point {
run in parallel
set rudderAngle = 0 degree
}
behavior Guidance:SetSpeed {
run in parallel
set speed = 0 meter_per_second
}
behavior Guidance:Wait {
run in sequence
set duration = Dock:LineCapture.rolloutTimeout
}
}
}
}
}
2025-06-05T06:17:08.519Z,1749104228.519 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming
2025-06-05T06:17:12.747Z,1749104232.747 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:17:25.950Z,1749104245.950 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:17:38.710Z,1749104258.710 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:17:51.330Z,1749104271.330 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:17:58.701Z,1749104278.701 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool
2025-06-05T06:17:58.701Z,1749104278.701 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 8.05 meter
2025-06-05T06:17:58.706Z,1749104278.706 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 68 meter
2025-06-05T06:17:58.707Z,1749104278.707 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 70 meter
2025-06-05T06:17:58.716Z,1749104278.716 [CommandExec](IMPORTANT): got command schedule resume
2025-06-05T06:17:58.716Z,1749104278.716 [CommandExec](IMPORTANT): Scheduling is resumed
2025-06-05T06:18:04.173Z,1749104284.173 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:18:18.043Z,1749104298.043 [CommandExec](IMPORTANT): got command set lineCaptureHoming.CorrectForSoundSpeed 1 bool
2025-06-05T06:18:18.044Z,1749104298.044 [CommandExec](IMPORTANT): got command run
2025-06-05T06:18:18.046Z,1749104298.046 [CommandExec](IMPORTANT): Running
2025-06-05T06:18:18.284Z,1749104298.284 [DefaultWithUndock] Stopped
2025-06-05T06:18:18.284Z,1749104298.284 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-05T06:18:18.284Z,1749104298.284 [DefaultWithUndock:SurfaceDefault] Stopped
2025-06-05T06:18:18.284Z,1749104298.284 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-06-05T06:18:18.284Z,1749104298.284 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-06-05T06:18:18.284Z,1749104298.284 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T06:18:18.284Z,1749104298.284 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-06-05T06:18:18.284Z,1749104298.284 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-05T06:18:18.284Z,1749104298.284 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-06-05T06:18:18.285Z,1749104298.285 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T06:18:18.285Z,1749104298.285 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2025-06-05T06:18:18.285Z,1749104298.285 [lineCaptureHoming] Running Loop=1
2025-06-05T06:18:18.285Z,1749104298.285 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2025-06-05T06:18:18.285Z,1749104298.285 [lineCaptureHoming:Science] Running Loop=1
2025-06-05T06:18:18.285Z,1749104298.285 [lineCaptureHoming:Science](DEBUG): Aggregate::initialize lineCaptureHoming:Science
2025-06-05T06:18:18.285Z,1749104298.285 [lineCaptureHoming:Science:A] Running Loop=1
2025-06-05T06:18:18.285Z,1749104298.285 [lineCaptureHoming:Science:B] Running Loop=1
2025-06-05T06:18:18.285Z,1749104298.285 [lineCaptureHoming:Science:C] Running Loop=1
2025-06-05T06:18:18.286Z,1749104298.286 [lineCaptureHoming:Science:D] Running Loop=1
2025-06-05T06:18:18.286Z,1749104298.286 [lineCaptureHoming:Science:E] Running Loop=1
2025-06-05T06:18:18.286Z,1749104298.286 [lineCaptureHoming:Science:F] Running Loop=1
2025-06-05T06:18:18.286Z,1749104298.286 [lineCaptureHoming:Science:Read_Oil] Running Loop=1
2025-06-05T06:18:18.286Z,1749104298.286 [lineCaptureHoming:Science:PeakDetectChl] Running Loop=1
2025-06-05T06:18:18.310Z,1749104298.310 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectChl
2025-06-05T06:18:18.310Z,1749104298.310 [lineCaptureHoming:Science:PeakDetectChl:A] Running Loop=1
2025-06-05T06:18:18.310Z,1749104298.310 [lineCaptureHoming:Science:EdgeDetectChl] Running Loop=1
2025-06-05T06:18:18.310Z,1749104298.310 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectChl
2025-06-05T06:18:18.311Z,1749104298.311 [lineCaptureHoming:Science:EdgeDetectChl:A] Running Loop=1
2025-06-05T06:18:18.311Z,1749104298.311 [lineCaptureHoming:Science:HighestChlPeakReport] Running Loop=1
2025-06-05T06:18:18.311Z,1749104298.311 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport
2025-06-05T06:18:18.311Z,1749104298.311 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T06:18:18.311Z,1749104298.311 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T06:18:18.311Z,1749104298.311 [lineCaptureHoming:Science:PeakDetectNO3] Running Loop=1
2025-06-05T06:18:18.312Z,1749104298.312 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectNO3
2025-06-05T06:18:18.312Z,1749104298.312 [lineCaptureHoming:Science:PeakDetectNO3:A] Running Loop=1
2025-06-05T06:18:18.312Z,1749104298.312 [lineCaptureHoming:Science:PeakDetectOil] Running Loop=1
2025-06-05T06:18:18.312Z,1749104298.312 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectOil
2025-06-05T06:18:18.312Z,1749104298.312 [lineCaptureHoming:Science:PeakDetectOil:A] Running Loop=1
2025-06-05T06:18:18.312Z,1749104298.312 [lineCaptureHoming:Science:HighestOilPeakReport] Running Loop=1
2025-06-05T06:18:18.312Z,1749104298.312 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReport
2025-06-05T06:18:18.312Z,1749104298.312 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T06:18:18.312Z,1749104298.312 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T06:18:18.313Z,1749104298.313 [lineCaptureHoming:Science:PeakDetectFDOM] Running Loop=1
2025-06-05T06:18:18.313Z,1749104298.313 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM
2025-06-05T06:18:18.313Z,1749104298.313 [lineCaptureHoming:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-05T06:18:18.313Z,1749104298.313 [lineCaptureHoming:Science:PeakDetectSalinity] Running Loop=1
2025-06-05T06:18:18.313Z,1749104298.313 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity
2025-06-05T06:18:18.314Z,1749104298.314 [lineCaptureHoming:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-05T06:18:18.314Z,1749104298.314 [lineCaptureHoming:Science:HighestSaltPeakReport] Running Loop=1
2025-06-05T06:18:18.326Z,1749104298.326 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-06-05T06:18:18.326Z,1749104298.326 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T06:18:18.326Z,1749104298.326 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T06:18:18.327Z,1749104298.327 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T06:18:18.327Z,1749104298.327 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T06:18:18.327Z,1749104298.327 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T06:18:18.327Z,1749104298.327 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T06:18:18.327Z,1749104298.327 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T06:18:18.327Z,1749104298.327 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T06:18:18.327Z,1749104298.327 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T06:18:18.328Z,1749104298.328 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T06:18:18.328Z,1749104298.328 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T06:18:18.328Z,1749104298.328 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T06:18:18.328Z,1749104298.328 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T06:18:18.328Z,1749104298.328 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T06:18:18.328Z,1749104298.328 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T06:18:18.328Z,1749104298.328 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T06:18:18.328Z,1749104298.328 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T06:18:18.328Z,1749104298.328 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T06:18:18.329Z,1749104298.329 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T06:18:18.329Z,1749104298.329 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T06:18:18.329Z,1749104298.329 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T06:18:18.329Z,1749104298.329 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T06:18:18.329Z,1749104298.329 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T06:18:18.329Z,1749104298.329 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T06:18:18.329Z,1749104298.329 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T06:18:18.329Z,1749104298.329 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T06:18:18.329Z,1749104298.329 [lineCaptureHoming:Science:ChlThreshTrigger] Running Loop=1
2025-06-05T06:18:18.329Z,1749104298.329 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize lineCaptureHoming:Science:ChlThreshTrigger
2025-06-05T06:18:18.330Z,1749104298.330 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-05T06:18:18.330Z,1749104298.330 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-05T06:18:18.334Z,1749104298.334 [lineCaptureHoming:Science:OceanCurrent] Running Loop=1
2025-06-05T06:18:18.334Z,1749104298.334 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureHoming:Science:OceanCurrent
2025-06-05T06:18:18.335Z,1749104298.335 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-06-05T06:18:18.335Z,1749104298.335 [lineCaptureHoming:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-05T06:18:18.335Z,1749104298.335 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-06-05T06:18:18.335Z,1749104298.335 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2025-06-05T06:18:18.335Z,1749104298.335 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T06:18:18.335Z,1749104298.335 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T06:18:18.335Z,1749104298.335 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T06:18:18.335Z,1749104298.335 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T06:18:18.335Z,1749104298.335 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T06:18:18.335Z,1749104298.335 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T06:18:18.336Z,1749104298.336 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-05T06:18:18.336Z,1749104298.336 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-05T06:18:18.336Z,1749104298.336 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-05T06:18:18.336Z,1749104298.336 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-05T06:18:18.336Z,1749104298.336 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-05T06:18:18.336Z,1749104298.336 [lineCaptureHoming:J] Running Loop=1
2025-06-05T06:18:18.336Z,1749104298.336 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-06-05T06:18:18.336Z,1749104298.336 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact.
2025-06-05T06:18:18.336Z,1749104298.336 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-05T06:18:18.337Z,1749104298.337 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-05T06:18:18.337Z,1749104298.337 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-06-05T06:18:18.337Z,1749104298.337 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-05T06:18:18.337Z,1749104298.337 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-05T06:18:18.337Z,1749104298.337 [lineCaptureHoming:C] Running Loop=1
2025-06-05T06:18:18.351Z,1749104298.351 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-06-05T06:18:18.351Z,1749104298.351 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-05T06:18:18.351Z,1749104298.351 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-06-05T06:18:18.352Z,1749104298.352 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-05T06:18:18.352Z,1749104298.352 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-06-05T06:18:18.352Z,1749104298.352 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-06-05T06:18:18.352Z,1749104298.352 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-06-05T06:18:18.352Z,1749104298.352 [lineCaptureHoming:J] Stopped
2025-06-05T06:18:18.352Z,1749104298.352 [lineCaptureHoming:MicromodemComms] Stopped
2025-06-05T06:18:18.353Z,1749104298.353 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-06-05T06:18:18.353Z,1749104298.353 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-05T06:18:18.353Z,1749104298.353 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-05T06:18:18.353Z,1749104298.353 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-05T06:18:18.353Z,1749104298.353 [lineCaptureHoming:C] Stopped
2025-06-05T06:18:18.353Z,1749104298.353 [lineCaptureHoming:D] Running Loop=1
2025-06-05T06:18:18.353Z,1749104298.353 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-06-05T06:18:18.353Z,1749104298.353 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T06:18:18.354Z,1749104298.354 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T06:18:18.359Z,1749104298.359 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T06:18:18.359Z,1749104298.359 [lineCaptureHoming:Science] Running Loop=1
2025-06-05T06:18:18.361Z,1749104298.361 [lineCaptureHoming:Science:ChlThreshTrigger] Stopped
2025-06-05T06:18:18.361Z,1749104298.361 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:ChlThreshTrigger
2025-06-05T06:18:18.361Z,1749104298.361 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-05T06:18:18.361Z,1749104298.361 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-05T06:18:18.361Z,1749104298.361 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T06:18:18.361Z,1749104298.361 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T06:18:18.361Z,1749104298.361 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T06:18:18.361Z,1749104298.361 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T06:18:18.361Z,1749104298.361 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T06:18:18.362Z,1749104298.362 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T06:18:18.362Z,1749104298.362 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-05T06:18:18.362Z,1749104298.362 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T06:18:18.362Z,1749104298.362 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T06:18:18.362Z,1749104298.362 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-05T06:18:18.374Z,1749104298.374 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T06:18:18.374Z,1749104298.374 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T06:18:18.374Z,1749104298.374 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-05T06:18:18.374Z,1749104298.374 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T06:18:18.375Z,1749104298.375 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T06:18:18.375Z,1749104298.375 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-05T06:18:18.375Z,1749104298.375 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T06:18:18.375Z,1749104298.375 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T06:18:18.375Z,1749104298.375 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-05T06:18:18.375Z,1749104298.375 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T06:18:18.375Z,1749104298.375 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T06:18:18.375Z,1749104298.375 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-05T06:18:18.375Z,1749104298.375 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T06:18:18.375Z,1749104298.375 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T06:18:18.375Z,1749104298.375 [lineCaptureHoming:Science:HighestSaltPeakReport] Stopped
2025-06-05T06:18:18.375Z,1749104298.375 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-06-05T06:18:18.376Z,1749104298.376 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T06:18:18.376Z,1749104298.376 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T06:18:18.376Z,1749104298.376 [lineCaptureHoming:Science:PeakDetectSalinity] Stopped
2025-06-05T06:18:18.376Z,1749104298.376 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectSalinity
2025-06-05T06:18:18.376Z,1749104298.376 [lineCaptureHoming:Science:PeakDetectSalinity:A] Stopped
2025-06-05T06:18:18.376Z,1749104298.376 [lineCaptureHoming:Science:PeakDetectFDOM] Stopped
2025-06-05T06:18:18.376Z,1749104298.376 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectFDOM
2025-06-05T06:18:18.376Z,1749104298.376 [lineCaptureHoming:Science:PeakDetectFDOM:A] Stopped
2025-06-05T06:18:18.376Z,1749104298.376 [lineCaptureHoming:Science:HighestOilPeakReport] Stopped
2025-06-05T06:18:18.376Z,1749104298.376 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestOilPeakReport
2025-06-05T06:18:18.376Z,1749104298.376 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T06:18:18.376Z,1749104298.376 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T06:18:18.376Z,1749104298.376 [lineCaptureHoming:Science:PeakDetectOil] Stopped
2025-06-05T06:18:18.377Z,1749104298.377 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectOil
2025-06-05T06:18:18.377Z,1749104298.377 [lineCaptureHoming:Science:PeakDetectOil:A] Stopped
2025-06-05T06:18:18.377Z,1749104298.377 [lineCaptureHoming:Science:PeakDetectNO3] Stopped
2025-06-05T06:18:18.377Z,1749104298.377 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectNO3
2025-06-05T06:18:18.377Z,1749104298.377 [lineCaptureHoming:Science:PeakDetectNO3:A] Stopped
2025-06-05T06:18:18.377Z,1749104298.377 [lineCaptureHoming:Science:HighestChlPeakReport] Stopped
2025-06-05T06:18:18.377Z,1749104298.377 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestChlPeakReport
2025-06-05T06:18:18.377Z,1749104298.377 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T06:18:18.377Z,1749104298.377 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T06:18:18.377Z,1749104298.377 [lineCaptureHoming:Science:EdgeDetectChl] Stopped
2025-06-05T06:18:18.377Z,1749104298.377 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectChl
2025-06-05T06:18:18.377Z,1749104298.377 [lineCaptureHoming:Science:EdgeDetectChl:A] Stopped
2025-06-05T06:18:18.377Z,1749104298.377 [lineCaptureHoming:Science:PeakDetectChl] Stopped
2025-06-05T06:18:18.378Z,1749104298.378 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectChl
2025-06-05T06:18:18.378Z,1749104298.378 [lineCaptureHoming:Science:PeakDetectChl:A] Stopped
2025-06-05T06:18:18.378Z,1749104298.378 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-06-05T06:18:18.382Z,1749104298.382 [lineCaptureHoming:Science:Read_Oil] Stopped
2025-06-05T06:18:18.382Z,1749104298.382 [lineCaptureHoming:Science:F] Running Loop=1
2025-06-05T06:18:18.383Z,1749104298.383 [lineCaptureHoming:Science:F](DEBUG): Initialize ReadDataComponent to sense WetLabsUBAT.average_bioluminescence
2025-06-05T06:18:18.383Z,1749104298.383 [lineCaptureHoming:Science:E] Running Loop=1
2025-06-05T06:18:18.383Z,1749104298.383 [lineCaptureHoming:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-06-05T06:18:18.384Z,1749104298.384 [lineCaptureHoming:Science:D] Stopped
2025-06-05T06:18:18.384Z,1749104298.384 [lineCaptureHoming:Science:C] Running Loop=1
2025-06-05T06:18:18.384Z,1749104298.384 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-06-05T06:18:18.384Z,1749104298.384 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-06-05T06:18:18.385Z,1749104298.385 [lineCaptureHoming:Science:B] Running Loop=1
2025-06-05T06:18:18.385Z,1749104298.385 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-06-05T06:18:18.385Z,1749104298.385 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-06-05T06:18:18.386Z,1749104298.386 [lineCaptureHoming:Science:A] Stopped
2025-06-05T06:18:18.707Z,1749104298.707 [lineCaptureHoming:D] Stopped
2025-06-05T06:18:18.707Z,1749104298.707 [lineCaptureHoming:E] Running Loop=1
2025-06-05T06:18:18.828Z,1749104298.828 [WetLabsBB2FL](INFO): Powering up
2025-06-05T06:18:18.851Z,1749104298.851 [WetLabsUBAT](INFO): Powering up
2025-06-05T06:18:19.099Z,1749104299.099 [lineCaptureHoming:E] Stopped
2025-06-05T06:18:19.100Z,1749104299.100 [lineCaptureHoming:G] Running Loop=1
2025-06-05T06:18:19.482Z,1749104299.482 [lineCaptureHoming:G] Stopped
2025-06-05T06:18:19.482Z,1749104299.482 [lineCaptureHoming:H] Running Loop=1
2025-06-05T06:18:19.870Z,1749104299.870 [lineCaptureHoming:H] Stopped
2025-06-05T06:18:19.870Z,1749104299.870 [lineCaptureHoming:L] Running Loop=1
2025-06-05T06:18:20.125Z,1749104300.125 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:18:20.339Z,1749104300.339 [lineCaptureHoming:L] Stopped
2025-06-05T06:18:20.339Z,1749104300.339 [lineCaptureHoming:M] Running Loop=1
2025-06-05T06:18:20.697Z,1749104300.697 [lineCaptureHoming:M] Stopped
2025-06-05T06:18:20.698Z,1749104300.698 [lineCaptureHoming:N] Running Loop=1
2025-06-05T06:18:21.077Z,1749104301.077 [lineCaptureHoming:N] Stopped
2025-06-05T06:18:21.077Z,1749104301.077 [lineCaptureHoming:O] Running Loop=1
2025-06-05T06:18:21.486Z,1749104301.486 [lineCaptureHoming:O] Stopped
2025-06-05T06:18:21.486Z,1749104301.486 [lineCaptureHoming:P] Running Loop=1
2025-06-05T06:18:21.885Z,1749104301.885 [lineCaptureHoming:P] Stopped
2025-06-05T06:18:21.885Z,1749104301.885 [lineCaptureHoming:Q] Running Loop=1
2025-06-05T06:18:22.259Z,1749104302.259 [CTD_Seabird](ERROR): Failed to parse device response:
2025-06-05T06:18:22.441Z,1749104302.441 [lineCaptureHoming:Q] Stopped
2025-06-05T06:18:22.441Z,1749104302.441 [lineCaptureHoming:U] Running Loop=1
2025-06-05T06:18:22.749Z,1749104302.749 [lineCaptureHoming:U] Stopped
2025-06-05T06:18:22.749Z,1749104302.749 [lineCaptureHoming:StartingMission] Running Loop=1
2025-06-05T06:18:22.749Z,1749104302.749 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2025-06-05T06:18:23.150Z,1749104303.150 [lineCaptureHoming:NeedComms] Running Loop=1
2025-06-05T06:18:23.174Z,1749104303.174 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2025-06-05T06:18:23.174Z,1749104303.174 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2025-06-05T06:18:23.174Z,1749104303.174 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T06:18:23.175Z,1749104303.175 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-06-05T06:18:23.175Z,1749104303.175 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-06-05T06:18:23.176Z,1749104303.175 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-06-05T06:18:23.176Z,1749104303.176 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-06-05T06:18:23.177Z,1749104303.177 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T06:18:23.178Z,1749104303.178 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T06:18:23.183Z,1749104303.183 [lineCaptureHoming:NeedComms:A] Running Loop=1
2025-06-05T06:18:23.199Z,1749104303.199 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1749104057.000000 second since 1970/01/01T00:00:00Z
2025-06-05T06:18:23.200Z,1749104303.200 [lineCaptureHoming:NeedComms:A] Stopped
2025-06-05T06:18:23.584Z,1749104303.584 [lineCaptureHoming:NeedComms:C] Running Loop=1
2025-06-05T06:18:23.970Z,1749104303.970 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-05T06:18:25.662Z,1749104305.662 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,061825.00,A,3654.38179,N,12207.02502,W,0.486,186.15,050625,,,A*72
2025-06-05T06:18:25.664Z,1749104305.664 [NAL9602](INFO): GPS fix at 20250605T061825: (36.906363, -122.117084)
2025-06-05T06:18:25.743Z,1749104305.743 [lineCaptureHoming:NeedComms:C] Stopped
2025-06-05T06:18:25.743Z,1749104305.743 [lineCaptureHoming:NeedComms:D] Running Loop=1
2025-06-05T06:18:26.377Z,1749104306.377 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-05T06:18:29.016Z,1749104309.016 [WetLabsUBAT](FAULT): UBAT flow rate is below the specified threshold of 0.05 l/s.
2025-06-05T06:18:30.012Z,1749104310.012 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250605T055548/Courier0006.lzma
2025-06-05T06:18:30.552Z,1749104310.552 [DataOverHttps](INFO): Moved sent file to Logs/20250605T055548/Courier0006.lzma.bak
2025-06-05T06:18:30.552Z,1749104310.552 [DataOverHttps](INFO): SBD MOMSN=25099975
2025-06-05T06:18:50.403Z,1749104330.403 [DataOverHttps](INFO): Sending 620 bytes from file Logs/20250605T055548/Express0007.lzma
2025-06-05T06:18:51.404Z,1749104331.404 [DataOverHttps](INFO): Moved sent file to Logs/20250605T055548/Express0007.lzma.bak
2025-06-05T06:18:51.405Z,1749104331.405 [DataOverHttps](INFO): SBD MOMSN=25099978
2025-06-05T06:19:10.884Z,1749104350.884 [DataOverHttps](INFO): Sending 135 bytes from file Logs/20250605T055548/Express0010.lzma
2025-06-05T06:19:11.880Z,1749104351.880 [DataOverHttps](INFO): Moved sent file to Logs/20250605T055548/Express0010.lzma.bak
2025-06-05T06:19:11.880Z,1749104351.880 [DataOverHttps](INFO): SBD MOMSN=25100001
2025-06-05T06:19:13.353Z,1749104353.353 [lineCaptureHoming:NeedComms:D] Stopped
2025-06-05T06:19:13.353Z,1749104353.353 [lineCaptureHoming:NeedComms:E] Running Loop=1
2025-06-05T06:19:13.736Z,1749104353.736 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-05T06:19:18.609Z,1749104358.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:19:18.659Z,1749104358.659 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:19:18.659Z,1749104358.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:19:18.911Z,1749104358.911 [DAT](INFO): DAT read: user:660>
2025-06-05T06:19:18.912Z,1749104358.912 [DAT](INFO): DAT read: Tx time:06:19:18.0827
2025-06-05T06:19:18.912Z,1749104358.912 [DAT](INFO): Ping request sent.
2025-06-05T06:19:18.912Z,1749104358.912 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:19:18.913Z,1749104358.913 [DAT](INFO): publishing transmit ping time
2025-06-05T06:19:18.915Z,1749104358.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001950
2025-06-05T06:19:19.165Z,1749104359.165 [DAT](INFO): DAT read: TxSync time:06:19:18.0819
2025-06-05T06:19:19.166Z,1749104359.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253477
2025-06-05T06:19:19.416Z,1749104359.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503409
2025-06-05T06:19:19.667Z,1749104359.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754890
2025-06-05T06:19:19.919Z,1749104359.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006994
2025-06-05T06:19:20.174Z,1749104360.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260943
2025-06-05T06:19:20.423Z,1749104360.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510915
2025-06-05T06:19:20.676Z,1749104360.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764020
2025-06-05T06:19:20.927Z,1749104360.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014836
2025-06-05T06:19:21.180Z,1749104361.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267168
2025-06-05T06:19:21.432Z,1749104361.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519738
2025-06-05T06:19:21.683Z,1749104361.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770867
2025-06-05T06:19:21.936Z,1749104361.936 [DAT](INFO): DAT read: Rx Time:06:19:20.6609
2025-06-05T06:19:21.937Z,1749104361.937 [DAT](INFO): Rx dataTimestamp_ set to:1749104361.936340
2025-06-05T06:19:21.938Z,1749104361.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025317
2025-06-05T06:19:22.191Z,1749104362.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278013
2025-06-05T06:19:22.450Z,1749104362.450 [DAT](INFO): DAT read: 06:19:20.6610 LVL= 29232, 32529, 15170, 31395, AGC= 70, IDX= 1, 0.19, 2.637,-2.387,-1.300,-2.716, PHS=-0.842, 0.376, 1.413, RAW= 242.7, -9.7, CAL= 240.7, -21.7, ROT= 269.3, 21.7
2025-06-05T06:19:22.451Z,1749104362.451 [DAT](INFO): got valid direction response:
06:19:20.6610 LVL= 29232, 32529, 15170, 31395, AGC= 70, IDX= 1, 0.19, 2.637,-2.387,-1.300,-2.716, PHS=-0.842, 0.376, 1.413, RAW= 242.7, -9.7, CAL= 240.7, -21.7, ROT= 269.3, 21.7
2025-06-05T06:19:22.452Z,1749104362.452 [DAT](INFO): DAT read: Bearing 269.3, 21.7 (Local)
2025-06-05T06:19:22.452Z,1749104362.452 [DAT](INFO): Local bearing/azimuth received:
Bearing 269.3, 21.7 (Local)
2025-06-05T06:19:22.453Z,1749104362.453 [DAT](INFO): DAT read: Range 10 to 50 : 130.5 m (Round-trip 174.1 ms) speed 0.0 m/s
2025-06-05T06:19:22.455Z,1749104362.455 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:19:22.456Z,1749104362.456 [DAT](INFO): direction in FSK: [-0.011351,-0.929063,-0.369747]
2025-06-05T06:19:22.456Z,1749104362.456 [DAT](INFO): publishing direction and range info
2025-06-05T06:19:23.432Z,1749104363.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:19:33.648Z,1749104373.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:19:43.978Z,1749104383.978 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:19:54.503Z,1749104394.503 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:20:04.803Z,1749104404.803 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:20:17.491Z,1749104417.491 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:20:18.870Z,1749104418.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:20:18.943Z,1749104418.943 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:20:18.944Z,1749104418.944 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:20:19.197Z,1749104419.197 [DAT](INFO): DAT read: user:661>
2025-06-05T06:20:19.200Z,1749104419.200 [DAT](INFO): DAT read: Tx time:06:20:18.3333
2025-06-05T06:20:19.201Z,1749104419.201 [DAT](INFO): Ping request sent.
2025-06-05T06:20:19.201Z,1749104419.201 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:20:19.201Z,1749104419.201 [DAT](INFO): publishing transmit ping time
2025-06-05T06:20:19.203Z,1749104419.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002321
2025-06-05T06:20:19.449Z,1749104419.449 [DAT](INFO): DAT read: TxSync time:06:20:18.3325
2025-06-05T06:20:19.452Z,1749104419.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249325
2025-06-05T06:20:19.707Z,1749104419.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506613
2025-06-05T06:20:19.959Z,1749104419.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758504
2025-06-05T06:20:20.211Z,1749104420.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010532
2025-06-05T06:20:20.465Z,1749104420.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263853
2025-06-05T06:20:20.716Z,1749104420.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515363
2025-06-05T06:20:20.967Z,1749104420.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766514
2025-06-05T06:20:21.219Z,1749104421.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018629
2025-06-05T06:20:21.472Z,1749104421.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271433
2025-06-05T06:20:21.723Z,1749104421.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522596
2025-06-05T06:20:21.975Z,1749104421.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774661
2025-06-05T06:20:22.227Z,1749104422.227 [DAT](INFO): DAT read: Rx Time:06:20:20.9162
2025-06-05T06:20:22.228Z,1749104422.228 [DAT](INFO): Rx dataTimestamp_ set to:1749104422.227290
2025-06-05T06:20:22.228Z,1749104422.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027569
2025-06-05T06:20:22.479Z,1749104422.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278470
2025-06-05T06:20:22.741Z,1749104422.741 [DAT](INFO): DAT read: Range 10 to 50 : 134.1 m (Round-trip 178.8 ms) speed -0.4 m/s
2025-06-05T06:20:22.741Z,1749104422.741 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T06:20:32.744Z,1749104432.744 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:20:43.035Z,1749104443.035 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:20:53.274Z,1749104453.274 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:21:03.730Z,1749104463.730 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:21:11.168Z,1749104471.168 [DockingStepper](ERROR): getADC uart error serial timeout
2025-06-05T06:21:11.168Z,1749104471.168 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-06-05T06:21:11.168Z,1749104471.168 [DockingStepper] Communications Fault, FailCount= 1
2025-06-05T06:21:11.168Z,1749104471.168 [DockingStepper](ERROR): Communications Fault
2025-06-05T06:21:11.172Z,1749104471.172 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-06-05T06:21:11.471Z,1749104471.471 [DockingStepper](INFO): Stop
2025-06-05T06:21:11.471Z,1749104471.471 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-05T06:21:11.471Z,1749104471.471 [DockingStepper](INFO): Powering down
2025-06-05T06:21:11.890Z,1749104471.890 [DockingStepper](INFO): Stopping
2025-06-05T06:21:12.309Z,1749104472.309 [DockingStepper](INFO): Stopping
2025-06-05T06:21:12.678Z,1749104472.678 [DockingStepper](INFO): Stopping
2025-06-05T06:21:13.119Z,1749104473.119 [DockingStepper](INFO): Stopping
2025-06-05T06:21:13.540Z,1749104473.540 [DockingStepper](INFO): Stopping
2025-06-05T06:21:13.923Z,1749104473.923 [DockingStepper](INFO): Stopping
2025-06-05T06:21:14.016Z,1749104474.016 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:21:14.325Z,1749104474.325 [DockingStepper](INFO): Stopping
2025-06-05T06:21:14.750Z,1749104474.750 [DockingStepper](INFO): Stopping
2025-06-05T06:21:15.105Z,1749104475.105 [DockingStepper](INFO): Stopping
2025-06-05T06:21:15.548Z,1749104475.548 [DockingStepper](INFO): Stopping
2025-06-05T06:21:15.941Z,1749104475.941 [DockingStepper](INFO): Stopping
2025-06-05T06:21:16.408Z,1749104476.408 [DockingStepper](INFO): Stopping
2025-06-05T06:21:16.771Z,1749104476.771 [DockingStepper](INFO): Stopping
2025-06-05T06:21:17.157Z,1749104477.157 [DockingStepper](INFO): Stopping
2025-06-05T06:21:17.590Z,1749104477.590 [DockingStepper](INFO): Stopping
2025-06-05T06:21:17.989Z,1749104477.989 [DockingStepper](INFO): Stopping
2025-06-05T06:21:18.419Z,1749104478.419 [DockingStepper](INFO): Stopping
2025-06-05T06:21:18.780Z,1749104478.780 [DockingStepper](INFO): Stopping
2025-06-05T06:21:19.167Z,1749104479.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:21:19.215Z,1749104479.215 [DockingStepper](INFO): Stopping
2025-06-05T06:21:19.259Z,1749104479.259 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:21:19.259Z,1749104479.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:21:19.511Z,1749104479.511 [DAT](INFO): DAT read: user:662>
2025-06-05T06:21:19.513Z,1749104479.513 [DAT](INFO): DAT read: Tx time:06:21:18.6339
2025-06-05T06:21:19.514Z,1749104479.514 [DAT](INFO): Ping request sent.
2025-06-05T06:21:19.514Z,1749104479.514 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:21:19.514Z,1749104479.514 [DAT](INFO): publishing transmit ping time
2025-06-05T06:21:19.515Z,1749104479.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001466
2025-06-05T06:21:19.639Z,1749104479.639 [DockingStepper](INFO): Stopping
2025-06-05T06:21:19.764Z,1749104479.764 [DAT](INFO): DAT read: TxSync time:06:21:18.6332
2025-06-05T06:21:19.766Z,1749104479.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252097
2025-06-05T06:21:19.999Z,1749104479.999 [DockingStepper](INFO): Stopping
2025-06-05T06:21:20.016Z,1749104480.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502020
2025-06-05T06:21:20.267Z,1749104480.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753695
2025-06-05T06:21:20.492Z,1749104480.492 [DockingStepper](INFO): Stopping
2025-06-05T06:21:20.520Z,1749104480.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006333
2025-06-05T06:21:20.769Z,1749104480.769 [DockingStepper](INFO): Stopping
2025-06-05T06:21:20.771Z,1749104480.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257539
2025-06-05T06:21:21.023Z,1749104481.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509640
2025-06-05T06:21:21.189Z,1749104481.189 [DockingStepper](INFO): Stopping
2025-06-05T06:21:21.275Z,1749104481.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761511
2025-06-05T06:21:21.533Z,1749104481.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019098
2025-06-05T06:21:21.588Z,1749104481.588 [DockingStepper](INFO): Stopping
2025-06-05T06:21:21.779Z,1749104481.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265612
2025-06-05T06:21:22.029Z,1749104482.029 [DockingStepper](INFO): Stopping
2025-06-05T06:21:22.031Z,1749104482.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517573
2025-06-05T06:21:22.283Z,1749104482.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769605
2025-06-05T06:21:22.456Z,1749104482.456 [DockingStepper](INFO): Stopping
2025-06-05T06:21:22.535Z,1749104482.535 [DAT](INFO): DAT read: Rx Time:06:21:21.2206
2025-06-05T06:21:22.536Z,1749104482.536 [DAT](INFO): Rx dataTimestamp_ set to:1749104482.535415
2025-06-05T06:21:22.536Z,1749104482.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022719
2025-06-05T06:21:22.787Z,1749104482.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273763
2025-06-05T06:21:22.822Z,1749104482.822 [DockingStepper](INFO): Stopping
2025-06-05T06:21:23.044Z,1749104483.044 [DAT](INFO): DAT read: 06:21:21.2206 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 455, 0.19, 0.965, 2.173, 2.953, 1.812, PHS=-0.759, 0.408, 1.138, RAW= 247.6, -9.5, CAL= 247.7, -21.6, ROT= 262.3, 21.6
2025-06-05T06:21:23.045Z,1749104483.045 [DAT](INFO): got valid direction response:
06:21:21.2206 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 455, 0.19, 0.965, 2.173, 2.953, 1.812, PHS=-0.759, 0.408, 1.138, RAW= 247.6, -9.5, CAL= 247.7, -21.6, ROT= 262.3, 21.6
2025-06-05T06:21:23.047Z,1749104483.047 [DAT](INFO): DAT read: Bearing 262.3, 21.6 (Local)
2025-06-05T06:21:23.047Z,1749104483.047 [DAT](INFO): Local bearing/azimuth received:
Bearing 262.3, 21.6 (Local)
2025-06-05T06:21:23.048Z,1749104483.048 [DAT](INFO): DAT read: Range 10 to 50 : 136.8 m (Round-trip 182.5 ms) speed -0.6 m/s
2025-06-05T06:21:23.049Z,1749104483.049 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T06:21:23.050Z,1749104483.050 [DAT](INFO): direction in FSK: [-0.124577,-0.921393,-0.368125]
2025-06-05T06:21:23.050Z,1749104483.050 [DAT](INFO): publishing direction and range info
2025-06-05T06:21:23.235Z,1749104483.235 [DockingStepper](INFO): Stopping
2025-06-05T06:21:23.593Z,1749104483.593 [DockingStepper](INFO): Stopping
2025-06-05T06:21:24.007Z,1749104484.007 [DockingStepper](INFO): Stopping
2025-06-05T06:21:24.094Z,1749104484.094 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:21:24.437Z,1749104484.437 [DockingStepper](INFO): Stopping
2025-06-05T06:21:24.808Z,1749104484.808 [DockingStepper](INFO): Stopping
2025-06-05T06:21:25.221Z,1749104485.221 [DockingStepper](INFO): Stopping
2025-06-05T06:21:25.626Z,1749104485.626 [DockingStepper](INFO): Stopping
2025-06-05T06:21:26.037Z,1749104486.037 [DockingStepper](INFO): Stopping
2025-06-05T06:21:26.560Z,1749104486.560 [DockingStepper](INFO): Stopping
2025-06-05T06:21:26.870Z,1749104486.870 [DockingStepper](INFO): Stopping
2025-06-05T06:21:27.302Z,1749104487.302 [DockingStepper](INFO): Stopping
2025-06-05T06:21:27.672Z,1749104487.672 [DockingStepper](INFO): Stopping
2025-06-05T06:21:28.080Z,1749104488.080 [DockingStepper](INFO): Stopping
2025-06-05T06:21:28.560Z,1749104488.560 [DockingStepper](INFO): Stopping
2025-06-05T06:21:28.908Z,1749104488.908 [DockingStepper](INFO): Stopping
2025-06-05T06:21:29.309Z,1749104489.309 [DockingStepper](INFO): Stopping
2025-06-05T06:21:29.669Z,1749104489.669 [DockingStepper](INFO): Stopping
2025-06-05T06:21:30.185Z,1749104490.185 [DockingStepper](INFO): Stopping
2025-06-05T06:21:30.558Z,1749104490.558 [DockingStepper](INFO): Stopping
2025-06-05T06:21:30.901Z,1749104490.901 [DockingStepper](INFO): Stopping
2025-06-05T06:21:31.307Z,1749104491.307 [DockingStepper](INFO): Stopping
2025-06-05T06:21:31.675Z,1749104491.675 [DockingStepper](INFO): Stopping
2025-06-05T06:21:32.084Z,1749104492.084 [DockingStepper](INFO): Stopped
2025-06-05T06:21:32.088Z,1749104492.088 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-06-05T06:21:32.088Z,1749104492.088 [DockingStepper] No Fault, FailCount= 1
2025-06-05T06:21:32.563Z,1749104492.563 [DockingStepper](INFO): Start
2025-06-05T06:21:32.564Z,1749104492.564 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-05T06:21:32.565Z,1749104492.565 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-05T06:21:32.906Z,1749104492.906 [DockingStepper](INFO): Starting
2025-06-05T06:21:33.327Z,1749104493.327 [DockingStepper](INFO): Starting
2025-06-05T06:21:33.689Z,1749104493.689 [DockingStepper](INFO): Starting
2025-06-05T06:21:33.739Z,1749104493.739 [DockingStepper](INFO): Init string: /1z16350aE13561N3m50
2025-06-05T06:21:34.111Z,1749104494.111 [DockingStepper](INFO): Starting
2025-06-05T06:21:34.156Z,1749104494.156 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:21:34.538Z,1749104494.538 [DockingStepper](INFO): Starting
2025-06-05T06:21:34.901Z,1749104494.901 [DockingStepper](INFO): Starting
2025-06-05T06:21:35.313Z,1749104495.313 [DockingStepper](INFO): Starting
2025-06-05T06:21:35.347Z,1749104495.347 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-05T06:21:35.718Z,1749104495.718 [DockingStepper](INFO): Starting
2025-06-05T06:21:36.212Z,1749104496.212 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T06:21:36.212Z,1749104496.212 [DockingStepper](INFO): Standby mode.
2025-06-05T06:21:44.414Z,1749104504.414 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:21:54.609Z,1749104514.609 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:22:04.836Z,1749104524.836 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:22:16.566Z,1749104536.566 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:22:19.460Z,1749104539.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T06:22:19.571Z,1749104539.571 [DAT](DEBUG): Acoustic response timeout
2025-06-05T06:22:19.571Z,1749104539.571 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T06:22:19.824Z,1749104539.824 [DAT](INFO): DAT read: user:663>
2025-06-05T06:22:19.825Z,1749104539.825 [DAT](INFO): DAT read: Tx time:06:22:18.9861
2025-06-05T06:22:19.825Z,1749104539.825 [DAT](INFO): Ping request sent.
2025-06-05T06:22:19.825Z,1749104539.825 [DAT](INFO): transmitted an acoustic signal
2025-06-05T06:22:19.825Z,1749104539.825 [DAT](INFO): publishing transmit ping time
2025-06-05T06:22:19.834Z,1749104539.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-06-05T06:22:20.079Z,1749104540.079 [DAT](INFO): DAT read: TxSync time:06:22:18.9853
2025-06-05T06:22:20.081Z,1749104540.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255165
2025-06-05T06:22:20.340Z,1749104540.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.514878
2025-06-05T06:22:20.591Z,1749104540.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.765908
2025-06-05T06:22:20.843Z,1749104540.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.017965
2025-06-05T06:22:21.097Z,1749104541.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.271029
2025-06-05T06:22:21.349Z,1749104541.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.523586
2025-06-05T06:22:21.600Z,1749104541.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774952
2025-06-05T06:22:21.851Z,1749104541.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025849
2025-06-05T06:22:22.106Z,1749104542.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280520
2025-06-05T06:22:22.355Z,1749104542.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529959
2025-06-05T06:22:22.607Z,1749104542.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782074
2025-06-05T06:22:22.859Z,1749104542.859 [DAT](INFO): DAT read: Rx Time:06:22:21.5762
2025-06-05T06:22:22.860Z,1749104542.860 [DAT](INFO): Rx dataTimestamp_ set to:1749104542.859313
2025-06-05T06:22:22.860Z,1749104542.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034932
2025-06-05T06:22:23.113Z,1749104543.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286997
2025-06-05T06:22:23.372Z,1749104543.372 [DAT](INFO): DAT read: 06:22:21.5762 LVL= 17792, 27121, 19282, 19955, AGC= 68, IDX= 461, 0.32, 0.018, 0.271, 2.208, 1.051, PHS=-0.945,-0.733, 1.154, RAW= 215.3, 5.3, CAL= 217.5, 0.2, ROT= 292.5, -0.2
2025-06-05T06:22:23.376Z,1749104543.376 [DAT](INFO): got valid direction response:
06:22:21.5762 LVL= 17792, 27121, 19282, 19955, AGC= 68, IDX= 461, 0.32, 0.018, 0.271, 2.208, 1.051, PHS=-0.945,-0.733, 1.154, RAW= 215.3, 5.3, CAL= 217.5, 0.2, ROT= 292.5, -0.2
2025-06-05T06:22:23.377Z,1749104543.377 [DAT](INFO): DAT read: Bearing 292.5, -0.2 (Local)
2025-06-05T06:22:23.377Z,1749104543.377 [DAT](INFO): Local bearing/azimuth received:
Bearing 292.5, -0.2 (Local)
2025-06-05T06:22:23.378Z,1749104543.378 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T06:22:23.395Z,1749104543.395 [DAT](INFO): direction in FSK: [0.382681,-0.923874,0.003491]
2025-06-05T06:22:23.617Z,1749104543.617 [DAT](INFO): DAT read: Range 10 to 50 : 139.5 m (Round-trip 186.0 ms) speed -0.3 m/s
2025-06-05T06:22:23.617Z,1749104543.617 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-06-05T06:22:31.557Z,1749104551.557 [NAL9602](INFO): SBD MO Status=2, MOMSN=48136, MT Status=2, MTMSN=0
2025-06-05T06:22:31.557Z,1749104551.557 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T06:22:33.054Z,1749104553.054 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:22:43.222Z,1749104563.222 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:22:53.847Z,1749104573.847 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:23:04.195Z,1749104584.195 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T06:23:05.904Z,1749104585.904 [NAL9602](INFO): SBD MO Status=1, MOMSN=48136, MT Status=0, MTMSN=0
2025-06-05T06:23:05.904Z,1749104585.904 [NAL9602](INFO): No messages in MT queue
2025-06-05T06:23:07.105Z,1749104587.105 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,062306.00,A,3654.37909,N,12207.03651,W,0.525,350.62,050625,,,A*7E
2025-06-05T06:23:07.108Z,1749104587.108 [NAL9602](INFO): GPS fix at 20250605T062306: (36.906318, -122.117275)
2025-06-05T06:23:07.160Z,1749104587.160 [lineCaptureHoming:NeedComms:E] Stopped
2025-06-05T06:23:07.161Z,1749104587.161 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2025-06-05T06:23:07.162Z,1749104587.162 [lineCaptureHoming:NeedComms] Stopped
2025-06-05T06:23:07.162Z,1749104587.162 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2025-06-05T06:23:07.162Z,1749104587.162 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2025-06-05T06:23:07.162Z,1749104587.162 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T06:23:07.564Z,1749104587.564 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2025-06-05T06:23:07.565Z,1749104587.565 [lineCaptureHoming:StartingMission] Stopped
2025-06-05T06:23:07.565Z,1749104587.565 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2025-06-05T06:23:07.566Z,1749104587.566 [lineCaptureHoming:Z] Running Loop=1
2025-06-05T06:23:07.938Z,1749104587.938 [lineCaptureHoming:Z](IMPORTANT): Restarting logs
2025-06-05T06:23:07.938Z,1749104587.938 [lineCaptureHoming:Z] Stopped
2025-06-05T06:23:07.938Z,1749104587.938 [lineCaptureHoming:BA.Execute] Running Loop=1
2025-06-05T06:23:08.379Z,1749104588.379 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-06-05T06:23:08.380Z,1749104588.380 [lineCaptureHoming:BA.Execute] Stopped
2025-06-05T06:23:08.380Z,1749104588.380 [lineCaptureHoming:InitialDive] Running Loop=1
2025-06-05T06:23:08.381Z,1749104588.381 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-06-05T06:23:08.381Z,1749104588.381 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-05T06:23:08.381Z,1749104588.381 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.