2025-06-05T16:30:00.410Z,1749141000.410 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-06-05T16:30:00.418Z,1749141000.418 [lineCaptureHoming:BA.Execute] Stopped
2025-06-05T16:30:00.418Z,1749141000.418 [lineCaptureHoming:InitialDive] Running Loop=1
2025-06-05T16:30:00.418Z,1749141000.418 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-06-05T16:30:00.418Z,1749141000.418 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-05T16:30:00.419Z,1749141000.419 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-06-05T16:30:00.419Z,1749141000.419 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-05T16:30:00.419Z,1749141000.419 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-06-05T16:30:00.419Z,1749141000.419 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-06-05T16:30:00.419Z,1749141000.419 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-06-05T16:30:00.452Z,1749141000.452 [CommandExec](IMPORTANT): got command restart logs
2025-06-05T16:30:00.760Z,1749141000.760 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-05T16:30:00.760Z,1749141000.760 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-05T16:30:01.568Z,1749141001.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:30:01.795Z,1749141001.795 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:30:01.795Z,1749141001.795 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:30:02.047Z,1749141002.047 [DAT](INFO): DAT read: user:2337>

2025-06-05T16:30:02.048Z,1749141002.048 [DAT](INFO): DAT read: Tx time:16:30:01.1448

2025-06-05T16:30:02.049Z,1749141002.049 [DAT](INFO): Ping request sent.
2025-06-05T16:30:02.049Z,1749141002.049 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:30:02.049Z,1749141002.049 [DAT](INFO): publishing transmit ping time
2025-06-05T16:30:02.049Z,1749141002.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764
2025-06-05T16:30:02.299Z,1749141002.299 [DAT](INFO): DAT read: TxSync time:16:30:01.1440

2025-06-05T16:30:02.300Z,1749141002.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251394
2025-06-05T16:30:02.484Z,1749141002.484 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -126.09892.28,      -35.19,  78.73,  0.00
2025-06-05T16:30:02.552Z,1749141002.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503174
2025-06-05T16:30:02.811Z,1749141002.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762558
2025-06-05T16:30:03.061Z,1749141003.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011538
2025-06-05T16:30:03.311Z,1749141003.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262355
2025-06-05T16:30:03.563Z,1749141003.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514501
2025-06-05T16:30:03.815Z,1749141003.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766381
2025-06-05T16:30:04.067Z,1749141004.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018619
2025-06-05T16:30:04.321Z,1749141004.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271912
2025-06-05T16:30:04.571Z,1749141004.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522503
2025-06-05T16:30:04.823Z,1749141004.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774494
2025-06-05T16:30:05.076Z,1749141005.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027779
2025-06-05T16:30:05.327Z,1749141005.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278473
2025-06-05T16:30:05.580Z,1749141005.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531091
2025-06-05T16:30:05.831Z,1749141005.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782493
2025-06-05T16:30:06.083Z,1749141006.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034522
2025-06-05T16:30:06.335Z,1749141006.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286433
2025-06-05T16:30:06.553Z,1749141006.553 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.08,   0.00,   0.00
2025-06-05T16:30:06.587Z,1749141006.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538661
2025-06-05T16:30:06.839Z,1749141006.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790515
2025-06-05T16:30:07.093Z,1749141007.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043692
2025-06-05T16:30:07.343Z,1749141007.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294715
2025-06-05T16:30:07.595Z,1749141007.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546546
2025-06-05T16:30:07.847Z,1749141007.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798278
2025-06-05T16:30:08.099Z,1749141008.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050451
2025-06-05T16:30:08.351Z,1749141008.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302553
2025-06-05T16:30:08.603Z,1749141008.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554418
2025-06-05T16:30:08.855Z,1749141008.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806700
2025-06-05T16:30:09.108Z,1749141009.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058678
2025-06-05T16:30:09.363Z,1749141009.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314003
2025-06-05T16:30:09.611Z,1749141009.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562445
2025-06-05T16:30:09.863Z,1749141009.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814650
2025-06-05T16:30:10.011Z,1749141010.011 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:30:10.123Z,1749141010.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074339
2025-06-05T16:30:10.379Z,1749141010.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.330649
2025-06-05T16:30:10.631Z,1749141010.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.582587
2025-06-05T16:30:10.884Z,1749141010.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.834956
2025-06-05T16:30:11.135Z,1749141011.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086348
2025-06-05T16:30:11.387Z,1749141011.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.338529
2025-06-05T16:30:11.639Z,1749141011.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590388
2025-06-05T16:30:11.892Z,1749141011.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.843179
2025-06-05T16:30:12.148Z,1749141012.148 [DAT](INFO): Reached modem response timeout
2025-06-05T16:30:12.913Z,1749141012.913 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:30:12.914Z,1749141012.914 [DAT](INFO): response not received
2025-06-05T16:30:12.922Z,1749141012.922 [DAT](ERROR): No response from remote modem.
2025-06-05T16:30:31.107Z,1749141031.107 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:30:31.227Z,1749141031.227 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T16:30:45.472Z,1749141045.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:30:52.803Z,1749141052.803 [DAT](INFO): DAT read: user:2338>Rx Time:16:30:51.4440

2025-06-05T16:30:52.804Z,1749141052.804 [DAT](INFO): Rx dataTimestamp_ set to:1749141052.803454
2025-06-05T16:30:53.314Z,1749141053.314 [DAT](INFO): DAT read: 16:30:51.4440 LVL= 32752, 32753, 15138, 32755, AGC= 60, IDX= 194, 0.02,-2.619,-1.003,-2.768,-2.770, PHS= 0.239, 1.814,-0.001, RAW= 337.0, -23.0, CAL= 341.1, -33.5, ROT= 168.9,  33.5

2025-06-05T16:30:53.315Z,1749141053.315 [DAT](INFO): got valid direction response:
 16:30:51.4440 LVL= 32752, 32753, 15138, 32755, AGC= 60, IDX= 194, 0.02,-2.619,-1.003,-2.768,-2.770, PHS= 0.239, 1.814,-0.001, RAW= 337.0, -23.0, CAL= 341.1, -33.5, ROT= 168.9,  33.5

2025-06-05T16:30:53.316Z,1749141053.316 [DAT](INFO): DAT read: $Error in header

2025-06-05T16:30:53.316Z,1749141053.316 [DAT](INFO): Received a bad header
2025-06-05T16:30:53.331Z,1749141053.331 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T16:30:53.332Z,1749141053.332 [DAT](INFO): direction in FSK: [-0.818286,0.160541,-0.551937]
2025-06-05T16:31:00.098Z,1749141060.098 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:31:01.971Z,1749141061.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:31:02.128Z,1749141062.128 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:31:02.128Z,1749141062.128 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:31:02.379Z,1749141062.379 [DAT](INFO): DAT read: 

2025-06-05T16:31:02.380Z,1749141062.380 [DAT](INFO): DAT read: Tx time:16:31:01.4954

2025-06-05T16:31:02.380Z,1749141062.380 [DAT](INFO): Ping request sent.
2025-06-05T16:31:02.380Z,1749141062.380 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:31:02.380Z,1749141062.380 [DAT](INFO): publishing transmit ping time
2025-06-05T16:31:02.381Z,1749141062.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-06-05T16:31:02.632Z,1749141062.632 [DAT](INFO): DAT read: TxSync time:16:31:01.4946

2025-06-05T16:31:02.633Z,1749141062.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253067
2025-06-05T16:31:02.885Z,1749141062.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504555
2025-06-05T16:31:03.135Z,1749141063.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755061
2025-06-05T16:31:03.389Z,1749141063.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008645
2025-06-05T16:31:03.639Z,1749141063.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259042
2025-06-05T16:31:03.892Z,1749141063.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511613
2025-06-05T16:31:04.144Z,1749141064.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763750
2025-06-05T16:31:04.270Z,1749141064.270 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:31:04.395Z,1749141064.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015127
2025-06-05T16:31:04.647Z,1749141064.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267101
2025-06-05T16:31:04.900Z,1749141064.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519791
2025-06-05T16:31:05.151Z,1749141065.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771122
2025-06-05T16:31:05.403Z,1749141065.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023083
2025-06-05T16:31:05.655Z,1749141065.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274990
2025-06-05T16:31:05.907Z,1749141065.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527185
2025-06-05T16:31:06.160Z,1749141066.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780103
2025-06-05T16:31:06.416Z,1749141066.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033536
2025-06-05T16:31:06.663Z,1749141066.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282999
2025-06-05T16:31:06.915Z,1749141066.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535168
2025-06-05T16:31:07.167Z,1749141067.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787120
2025-06-05T16:31:07.419Z,1749141067.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039164
2025-06-05T16:31:07.671Z,1749141067.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290950
2025-06-05T16:31:07.923Z,1749141067.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543162
2025-06-05T16:31:08.180Z,1749141068.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799312
2025-06-05T16:31:08.427Z,1749141068.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047021
2025-06-05T16:31:08.680Z,1749141068.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299568
2025-06-05T16:31:08.931Z,1749141068.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551224
2025-06-05T16:31:09.183Z,1749141069.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802935
2025-06-05T16:31:09.435Z,1749141069.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055384
2025-06-05T16:31:09.687Z,1749141069.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306991
2025-06-05T16:31:09.940Z,1749141069.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559928
2025-06-05T16:31:10.195Z,1749141070.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813724
2025-06-05T16:31:10.445Z,1749141070.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064623
2025-06-05T16:31:10.695Z,1749141070.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315144
2025-06-05T16:31:10.947Z,1749141070.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567208
2025-06-05T16:31:11.199Z,1749141071.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819018
2025-06-05T16:31:11.453Z,1749141071.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072811
2025-06-05T16:31:11.695Z,1749141071.695 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:31:11.703Z,1749141071.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323008
2025-06-05T16:31:11.956Z,1749141071.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575436
2025-06-05T16:31:12.211Z,1749141072.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830299
2025-06-05T16:31:12.461Z,1749141072.461 [DAT](INFO): Reached modem response timeout
2025-06-05T16:31:13.215Z,1749141073.215 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:31:13.215Z,1749141073.215 [DAT](INFO): response not received
2025-06-05T16:31:13.216Z,1749141073.216 [DAT](ERROR): No response from remote modem.
2025-06-05T16:31:43.513Z,1749141103.513 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:32:00.325Z,1749141120.325 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-06-05T16:32:02.413Z,1749141122.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:32:02.415Z,1749141122.415 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:32:02.416Z,1749141122.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:32:02.667Z,1749141122.667 [DAT](INFO): DAT read: user:2339>

2025-06-05T16:32:02.668Z,1749141122.668 [DAT](INFO): DAT read: Tx time:16:32:01.7959

2025-06-05T16:32:02.668Z,1749141122.668 [DAT](INFO): Ping request sent.
2025-06-05T16:32:02.668Z,1749141122.668 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:32:02.669Z,1749141122.669 [DAT](INFO): publishing transmit ping time
2025-06-05T16:32:02.669Z,1749141122.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-06-05T16:32:02.919Z,1749141122.919 [DAT](INFO): DAT read: TxSync time:16:32:01.7952

2025-06-05T16:32:02.920Z,1749141122.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251594
2025-06-05T16:32:03.171Z,1749141123.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502774
2025-06-05T16:32:03.425Z,1749141123.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756146
2025-06-05T16:32:03.676Z,1749141123.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007450
2025-06-05T16:32:03.928Z,1749141123.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259284
2025-06-05T16:32:04.180Z,1749141124.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511410
2025-06-05T16:32:04.433Z,1749141124.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764395
2025-06-05T16:32:04.683Z,1749141124.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014911
2025-06-05T16:32:04.935Z,1749141124.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266702
2025-06-05T16:32:05.187Z,1749141125.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518937
2025-06-05T16:32:05.441Z,1749141125.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772041
2025-06-05T16:32:05.693Z,1749141125.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024130
2025-06-05T16:32:05.944Z,1749141125.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275425
2025-06-05T16:32:06.198Z,1749141126.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528726
2025-06-05T16:32:06.447Z,1749141126.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778790
2025-06-05T16:32:06.699Z,1749141126.699 [DAT](INFO): DAT read: Rx Time:16:32:05.2049

2025-06-05T16:32:06.700Z,1749141126.700 [DAT](INFO): Rx dataTimestamp_ set to:1749141126.699317
2025-06-05T16:32:06.700Z,1749141126.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031743
2025-06-05T16:32:06.951Z,1749141126.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282773
2025-06-05T16:32:07.204Z,1749141127.204 [DAT](INFO): DAT read: Range 10 to 50 : 753.6 m  (Round-trip  1004.8 ms) speed -0.2 m/s

2025-06-05T16:32:07.205Z,1749141127.205 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:32:11.623Z,1749141131.623 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.928867
2025-06-05T16:32:12.627Z,1749141132.627 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:32:18.839Z,1749141138.839 [Radio_Surface](INFO): Powering down
2025-06-05T16:32:42.747Z,1749141162.747 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:32:43.751Z,1749141163.751 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-05T16:32:43.751Z,1749141163.751 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:32:53.304Z,1749141173.304 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 377.43, 355.95, 266.96
2025-06-05T16:33:02.565Z,1749141182.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:33:02.675Z,1749141182.675 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:33:02.676Z,1749141182.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:33:02.928Z,1749141182.928 [DAT](INFO): DAT read: user:2340>

2025-06-05T16:33:02.928Z,1749141182.928 [DAT](INFO): DAT read: Tx time:16:33:02.0464

2025-06-05T16:33:02.929Z,1749141182.929 [DAT](INFO): Ping request sent.
2025-06-05T16:33:02.929Z,1749141182.929 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:33:02.929Z,1749141182.929 [DAT](INFO): publishing transmit ping time
2025-06-05T16:33:02.930Z,1749141182.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-06-05T16:33:03.179Z,1749141183.179 [DAT](INFO): DAT read: TxSync time:16:33:02.0457

2025-06-05T16:33:03.180Z,1749141183.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251265
2025-06-05T16:33:03.431Z,1749141183.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502385
2025-06-05T16:33:03.685Z,1749141183.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756370
2025-06-05T16:33:03.940Z,1749141183.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010847
2025-06-05T16:33:04.192Z,1749141184.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263244
2025-06-05T16:33:04.444Z,1749141184.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514891
2025-06-05T16:33:04.695Z,1749141184.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766591
2025-06-05T16:33:04.947Z,1749141184.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018194
2025-06-05T16:33:05.203Z,1749141185.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274080
2025-06-05T16:33:05.455Z,1749141185.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526318
2025-06-05T16:33:05.708Z,1749141185.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778687
2025-06-05T16:33:05.961Z,1749141185.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032232
2025-06-05T16:33:06.215Z,1749141186.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285127
2025-06-05T16:33:06.464Z,1749141186.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534943
2025-06-05T16:33:06.715Z,1749141186.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786201
2025-06-05T16:33:06.968Z,1749141186.968 [DAT](INFO): DAT read: Rx Time:16:33:05.4583

2025-06-05T16:33:06.968Z,1749141186.968 [DAT](INFO): Rx dataTimestamp_ set to:1749141186.967712
2025-06-05T16:33:06.969Z,1749141186.969 [DAT](INFO): DAT read: $Low SNR acquisition

2025-06-05T16:33:06.969Z,1749141186.969 [DAT](INFO): Received low SNR in chirp
2025-06-05T16:33:06.982Z,1749141186.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.053616
2025-06-05T16:33:07.221Z,1749141187.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291569
2025-06-05T16:33:07.473Z,1749141187.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543924
2025-06-05T16:33:07.737Z,1749141187.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.807819
2025-06-05T16:33:07.987Z,1749141187.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.058185
2025-06-05T16:33:08.240Z,1749141188.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.310690
2025-06-05T16:33:08.492Z,1749141188.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.563338
2025-06-05T16:33:08.744Z,1749141188.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.815155
2025-06-05T16:33:08.995Z,1749141188.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.066234
2025-06-05T16:33:09.247Z,1749141189.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.318429
2025-06-05T16:33:09.500Z,1749141189.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.571258
2025-06-05T16:33:09.752Z,1749141189.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.823040
2025-06-05T16:33:10.003Z,1749141190.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.074235
2025-06-05T16:33:10.256Z,1749141190.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.326976
2025-06-05T16:33:10.509Z,1749141190.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.579903
2025-06-05T16:33:10.760Z,1749141190.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.831364
2025-06-05T16:33:11.011Z,1749141191.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.082333
2025-06-05T16:33:11.263Z,1749141191.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.334296
2025-06-05T16:33:11.517Z,1749141191.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.587737
2025-06-05T16:33:11.767Z,1749141191.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.838314
2025-06-05T16:33:12.019Z,1749141192.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.090206
2025-06-05T16:33:12.271Z,1749141192.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.342283
2025-06-05T16:33:12.524Z,1749141192.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.595088
2025-06-05T16:33:12.776Z,1749141192.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.847045
2025-06-05T16:33:13.029Z,1749141193.029 [DAT](INFO): Reached modem response timeout
2025-06-05T16:33:13.787Z,1749141193.787 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:33:13.787Z,1749141193.787 [DAT](INFO): response not received
2025-06-05T16:33:13.788Z,1749141193.788 [DAT](ERROR): No response from remote modem.
2025-06-05T16:33:13.879Z,1749141193.879 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:33:14.883Z,1749141194.883 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:33:20.752Z,1749141200.752 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-06-05T16:33:20.753Z,1749141200.753 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-06-05T16:33:20.753Z,1749141200.753 [lineCaptureHoming:InitialDive] Stopped
2025-06-05T16:33:20.754Z,1749141200.754 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-06-05T16:33:20.770Z,1749141200.770 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-06-05T16:33:20.770Z,1749141200.770 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-06-05T16:33:20.771Z,1749141200.771 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-06-05T16:33:20.771Z,1749141200.771 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-06-05T16:33:20.771Z,1749141200.771 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-06-05T16:33:20.772Z,1749141200.772 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-06-05T16:33:20.772Z,1749141200.772 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-06-05T16:33:21.141Z,1749141201.141 [lineCaptureHoming:RepeatHack] Stopped
2025-06-05T16:33:21.142Z,1749141201.142 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-06-05T16:33:21.142Z,1749141201.142 [lineCaptureHoming:RepeatHack:A] Stopped
2025-06-05T16:33:21.143Z,1749141201.143 [lineCaptureHoming:Lap] Running Loop=1
2025-06-05T16:33:21.143Z,1749141201.143 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-06-05T16:33:21.143Z,1749141201.143 [lineCaptureHoming:Lap:A] Running Loop=1
2025-06-05T16:33:21.559Z,1749141201.559 [lineCaptureHoming:Lap:A] Stopped
2025-06-05T16:33:21.559Z,1749141201.559 [lineCaptureHoming:Lap:B] Running Loop=1
2025-06-05T16:33:21.559Z,1749141201.559 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-06-05T16:33:21.985Z,1749141201.985 [lineCaptureHoming:LineCapture] Running Loop=1
2025-06-05T16:33:21.985Z,1749141201.985 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-06-05T16:33:21.985Z,1749141201.985 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-05T16:33:21.986Z,1749141201.986 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-05T16:33:21.986Z,1749141201.986 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T16:33:21.986Z,1749141201.986 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T16:33:21.986Z,1749141201.986 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T16:33:21.986Z,1749141201.986 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T16:33:21.986Z,1749141201.986 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T16:33:21.987Z,1749141201.987 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T16:33:21.987Z,1749141201.987 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-05T16:33:21.987Z,1749141201.987 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-05T16:33:21.987Z,1749141201.987 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-05T16:33:21.987Z,1749141201.987 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-06-05T16:33:21.987Z,1749141201.987 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-05T16:33:21.987Z,1749141201.987 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-05T16:33:21.987Z,1749141201.987 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-06-05T16:33:21.987Z,1749141201.987 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-05T16:33:21.987Z,1749141201.987 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-05T16:33:21.987Z,1749141201.987 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-05T16:33:21.987Z,1749141201.987 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T16:33:21.988Z,1749141201.988 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-06-05T16:33:21.988Z,1749141201.988 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-05T16:33:21.988Z,1749141201.988 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-05T16:33:21.988Z,1749141201.988 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-05T16:33:21.988Z,1749141201.988 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-05T16:33:21.989Z,1749141201.989 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-05T16:33:21.989Z,1749141201.989 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-05T16:33:21.989Z,1749141201.989 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-05T16:33:21.989Z,1749141201.989 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-05T16:33:21.989Z,1749141201.989 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T16:33:21.990Z,1749141201.990 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T16:33:21.990Z,1749141201.990 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T16:33:21.991Z,1749141201.991 [lineCaptureHoming:LineCapture:A] Stopped
2025-06-05T16:33:21.991Z,1749141201.991 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-06-05T16:33:22.349Z,1749141202.349 [lineCaptureHoming:LineCapture:B] Stopped
2025-06-05T16:33:22.349Z,1749141202.349 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-06-05T16:33:22.779Z,1749141202.779 [lineCaptureHoming:LineCapture:D] Stopped
2025-06-05T16:33:22.779Z,1749141202.779 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-06-05T16:33:23.151Z,1749141203.151 [lineCaptureHoming:LineCapture:E] Stopped
2025-06-05T16:33:23.151Z,1749141203.151 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-06-05T16:33:23.569Z,1749141203.569 [lineCaptureHoming:LineCapture:F] Stopped
2025-06-05T16:33:23.569Z,1749141203.569 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-06-05T16:33:23.569Z,1749141203.569 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-05T16:33:23.569Z,1749141203.569 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-05T16:33:23.569Z,1749141203.569 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-05T16:33:23.569Z,1749141203.569 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-06-05T16:33:23.569Z,1749141203.569 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-05T16:33:23.570Z,1749141203.570 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-06-05T16:33:23.570Z,1749141203.570 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-05T16:33:23.570Z,1749141203.570 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-05T16:33:23.570Z,1749141203.570 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-05T16:33:23.570Z,1749141203.570 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-05T16:33:23.571Z,1749141203.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-05T16:33:23.571Z,1749141203.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-05T16:33:23.571Z,1749141203.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-05T16:33:23.571Z,1749141203.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-05T16:33:23.571Z,1749141203.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-05T16:33:23.571Z,1749141203.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-05T16:33:23.571Z,1749141203.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-05T16:33:23.571Z,1749141203.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-05T16:33:23.571Z,1749141203.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T16:33:23.572Z,1749141203.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-05T16:33:23.572Z,1749141203.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T16:33:23.572Z,1749141203.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-05T16:33:23.572Z,1749141203.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-05T16:33:23.572Z,1749141203.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-05T16:33:23.572Z,1749141203.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-05T16:33:23.572Z,1749141203.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-05T16:33:23.572Z,1749141203.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-05T16:33:23.572Z,1749141203.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-05T16:33:23.572Z,1749141203.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-05T16:33:23.573Z,1749141203.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-05T16:33:23.573Z,1749141203.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-05T16:33:23.573Z,1749141203.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-05T16:33:23.999Z,1749141203.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-05T16:33:23.999Z,1749141203.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T16:33:23.999Z,1749141203.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-05T16:33:23.999Z,1749141203.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T16:33:23.999Z,1749141203.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-05T16:33:23.999Z,1749141203.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-05T16:33:23.999Z,1749141203.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-05T16:33:23.000Z,1749141204.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-05T16:33:23.000Z,1749141204.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-05T16:33:23.000Z,1749141204.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-05T16:33:23.000Z,1749141204.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-05T16:33:23.000Z,1749141204.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-05T16:33:23.000Z,1749141204.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-05T16:33:23.000Z,1749141204.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-05T16:33:23.000Z,1749141204.000 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-05T16:33:24.000Z,1749141204.000 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-05T16:33:24.000Z,1749141204.000 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-05T16:33:24.000Z,1749141204.000 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-05T16:33:24.000Z,1749141204.000 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-05T16:33:24.000Z,1749141204.000 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-05T16:33:24.000Z,1749141204.000 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-05T16:33:24.001Z,1749141204.001 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-05T16:33:24.001Z,1749141204.001 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-05T16:33:24.001Z,1749141204.001 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-05T16:33:24.001Z,1749141204.001 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-05T16:33:24.002Z,1749141204.002 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.529850 m.
2025-06-05T16:33:24.477Z,1749141204.477 [DockingStepper](INFO): Changing to mode: 3
2025-06-05T16:33:24.477Z,1749141204.477 [DockingStepper](INFO): Detach mode.
2025-06-05T16:33:24.538Z,1749141204.538 [DockingStepper](INFO): Commanding negative:54371
2025-06-05T16:33:30.421Z,1749141210.421 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](FAULT): Drifted too long without detachment, restarting undock sequence
2025-06-05T16:33:30.886Z,1749141210.886 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-06-05T16:33:31.238Z,1749141211.238 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 19.02 mm.
2025-06-05T16:33:38.128Z,1749141218.128 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-3276,
2025-06-05T16:33:41.089Z,1749141221.089 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2025-06-05T16:33:41.362Z,1749141221.362 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-06-05T16:33:41.362Z,1749141221.362 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-05T16:33:41.362Z,1749141221.362 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-06-05T16:33:41.362Z,1749141221.362 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T16:33:41.362Z,1749141221.362 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-06-05T16:33:41.362Z,1749141221.362 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-06-05T16:33:41.362Z,1749141221.362 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-06-05T16:33:41.362Z,1749141221.362 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-06-05T16:33:41.363Z,1749141221.363 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-06-05T16:33:45.016Z,1749141225.016 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:33:46.019Z,1749141226.019 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:34:02.760Z,1749141242.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:34:02.971Z,1749141242.971 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:34:02.971Z,1749141242.971 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:34:03.225Z,1749141243.225 [DAT](INFO): DAT read: 

2025-06-05T16:34:03.227Z,1749141243.227 [DAT](INFO): DAT read: Tx time:16:34:02.3468

2025-06-05T16:34:03.227Z,1749141243.227 [DAT](INFO): Ping request sent.
2025-06-05T16:34:03.227Z,1749141243.227 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:34:03.227Z,1749141243.227 [DAT](INFO): publishing transmit ping time
2025-06-05T16:34:03.228Z,1749141243.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000777
2025-06-05T16:34:03.476Z,1749141243.476 [DAT](INFO): DAT read: TxSync time:16:34:02.3460

2025-06-05T16:34:03.477Z,1749141243.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250203
2025-06-05T16:34:03.728Z,1749141243.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500671
2025-06-05T16:34:03.979Z,1749141243.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752198
2025-06-05T16:34:04.231Z,1749141244.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004155
2025-06-05T16:34:04.489Z,1749141244.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262217
2025-06-05T16:34:04.744Z,1749141244.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516639
2025-06-05T16:34:04.995Z,1749141244.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767916
2025-06-05T16:34:05.250Z,1749141245.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022221
2025-06-05T16:34:05.499Z,1749141245.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272093
2025-06-05T16:34:05.751Z,1749141245.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524040
2025-06-05T16:34:06.004Z,1749141246.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777255
2025-06-05T16:34:06.255Z,1749141246.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028032
2025-06-05T16:34:06.508Z,1749141246.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280390
2025-06-05T16:34:06.760Z,1749141246.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533122
2025-06-05T16:34:07.011Z,1749141247.011 [DAT](INFO): DAT read: Rx Time:16:34:05.7618

2025-06-05T16:34:07.012Z,1749141247.012 [DAT](INFO): Rx dataTimestamp_ set to:1749141247.011434
2025-06-05T16:34:07.012Z,1749141247.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785164
2025-06-05T16:34:07.264Z,1749141247.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036709
2025-06-05T16:34:07.515Z,1749141247.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288105
2025-06-05T16:34:07.772Z,1749141247.772 [DAT](INFO): DAT read: 16:34:05.7618 LVL= 22192, 32241, 19538, 23475, AGC= 71, IDX= 457, 0.46,-1.521, 0.926, 0.577, 0.164, PHS=-1.597, 0.809, 0.410, RAW= 278.9,   3.4, CAL= 281.9,   4.3, ROT= 228.1,  -4.3

2025-06-05T16:34:07.773Z,1749141247.773 [DAT](INFO): got valid direction response:
 16:34:05.7618 LVL= 22192, 32241, 19538, 23475, AGC= 71, IDX= 457, 0.46,-1.521, 0.926, 0.577, 0.164, PHS=-1.597, 0.809, 0.410, RAW= 278.9,   3.4, CAL= 281.9,   4.3, ROT= 228.1,  -4.3

2025-06-05T16:34:07.775Z,1749141247.775 [DAT](INFO): DAT read: Range 10 to 50 : 758.0 m  (Round-trip  1010.7 ms) speed  0.2 m/s

2025-06-05T16:34:07.776Z,1749141247.776 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:34:07.777Z,1749141247.777 [DAT](INFO): direction in FSK: [-0.665953,-0.742216,0.074979]
2025-06-05T16:34:07.777Z,1749141247.777 [DAT](INFO): publishing direction and range info
2025-06-05T16:34:08.026Z,1749141248.026 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-05T16:34:16.140Z,1749141256.140 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:34:17.143Z,1749141257.143 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:34:22.636Z,1749141262.636 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude. Device response is::BD,

2025-06-05T16:34:28.235Z,1749141268.235 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 758.00 m. Transitioning docking module to standby.
2025-06-05T16:34:28.660Z,1749141268.660 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:34:28.721Z,1749141268.721 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T16:34:28.721Z,1749141268.721 [DockingStepper](INFO): Standby mode.
2025-06-05T16:34:28.787Z,1749141268.787 [DockingStepper](INFO): Commanding positive:54402
2025-06-05T16:34:34.730Z,1749141274.730 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-06-05T16:34:35.119Z,1749141275.119 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-06-05T16:34:35.120Z,1749141275.120 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-06-05T16:34:35.120Z,1749141275.120 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-06-05T16:34:35.483Z,1749141275.483 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-06-05T16:34:35.484Z,1749141275.484 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-06-05T16:34:35.484Z,1749141275.484 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-06-05T16:34:35.936Z,1749141275.936 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-06-05T16:34:35.936Z,1749141275.936 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-05T16:34:35.936Z,1749141275.936 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-06-05T16:34:35.937Z,1749141275.937 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-05T16:34:35.937Z,1749141275.937 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-05T16:34:36.315Z,1749141276.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-05T16:34:36.315Z,1749141276.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-05T16:34:36.315Z,1749141276.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-05T16:34:36.315Z,1749141276.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-05T16:34:36.315Z,1749141276.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-05T16:34:36.315Z,1749141276.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-05T16:34:36.315Z,1749141276.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-05T16:34:36.316Z,1749141276.316 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-05T16:34:36.316Z,1749141276.316 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-05T16:34:36.316Z,1749141276.316 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-05T16:34:36.316Z,1749141276.316 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-05T16:34:36.316Z,1749141276.316 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-05T16:34:36.318Z,1749141276.318 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.905698 arcdeg , -122.116120 arcdeg )
2025-06-05T16:34:36.318Z,1749141276.318 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-05T16:34:36.318Z,1749141276.318 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-06-05T16:34:36.318Z,1749141276.318 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-05T16:34:36.319Z,1749141276.319 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.905698,-122.116120
2025-06-05T16:34:36.691Z,1749141276.691 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 19.02 mm (2 active estimators).
2025-06-05T16:34:36.794Z,1749141276.794 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.905698,-122.116120
2025-06-05T16:34:36.796Z,1749141276.796 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-05T16:34:36.796Z,1749141276.796 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-05T16:34:36.796Z,1749141276.796 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-05T16:34:36.796Z,1749141276.796 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T16:34:36.796Z,1749141276.796 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-05T16:34:36.796Z,1749141276.796 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-06-05T16:34:36.797Z,1749141276.797 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-05T16:34:36.797Z,1749141276.797 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-05T16:34:36.797Z,1749141276.797 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-06-05T16:34:36.812Z,1749141276.812 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-06-05T16:34:36.812Z,1749141276.812 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-06-05T16:34:47.266Z,1749141287.266 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:34:48.271Z,1749141288.271 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:35:02.821Z,1749141302.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:35:02.995Z,1749141302.995 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:35:02.995Z,1749141302.995 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:35:03.247Z,1749141303.247 [DAT](INFO): DAT read: user:2342>

2025-06-05T16:35:03.248Z,1749141303.248 [DAT](INFO): DAT read: Tx time:16:35:02.3474

2025-06-05T16:35:03.248Z,1749141303.248 [DAT](INFO): Ping request sent.
2025-06-05T16:35:03.248Z,1749141303.248 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:35:03.248Z,1749141303.248 [DAT](INFO): publishing transmit ping time
2025-06-05T16:35:03.249Z,1749141303.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-06-05T16:35:03.499Z,1749141303.499 [DAT](INFO): DAT read: TxSync time:16:35:02.3466

2025-06-05T16:35:03.500Z,1749141303.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251763
2025-06-05T16:35:03.752Z,1749141303.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504068
2025-06-05T16:35:04.003Z,1749141304.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754726
2025-06-05T16:35:04.256Z,1749141304.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007919
2025-06-05T16:35:04.507Z,1749141304.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259033
2025-06-05T16:35:04.761Z,1749141304.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512356
2025-06-05T16:35:05.011Z,1749141305.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763253
2025-06-05T16:35:05.263Z,1749141305.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015025
2025-06-05T16:35:05.516Z,1749141305.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267650
2025-06-05T16:35:05.768Z,1749141305.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519509
2025-06-05T16:35:06.023Z,1749141306.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774799
2025-06-05T16:35:06.277Z,1749141306.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028841
2025-06-05T16:35:06.528Z,1749141306.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279991
2025-06-05T16:35:06.779Z,1749141306.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530913
2025-06-05T16:35:07.031Z,1749141307.031 [DAT](INFO): DAT read: Rx Time:16:35:05.7725

2025-06-05T16:35:07.032Z,1749141307.032 [DAT](INFO): Rx dataTimestamp_ set to:1749141307.031319
2025-06-05T16:35:07.032Z,1749141307.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783934
2025-06-05T16:35:07.283Z,1749141307.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034932
2025-06-05T16:35:07.538Z,1749141307.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289076
2025-06-05T16:35:07.796Z,1749141307.796 [DAT](INFO): DAT read: 16:35:05.7725 LVL= 21424, 21489, 13266, 22099, AGC= 72, IDX=  34, 0.18,-0.228, 1.305, 2.190, 1.091, PHS=-1.232, 0.261, 1.096, RAW= 249.3,  -1.2, CAL= 251.7,  -1.7, ROT= 258.3,   1.7

2025-06-05T16:35:07.800Z,1749141307.800 [DAT](INFO): got valid direction response:
 16:35:05.7725 LVL= 21424, 21489, 13266, 22099, AGC= 72, IDX=  34, 0.18,-0.228, 1.305, 2.190, 1.091, PHS=-1.232, 0.261, 1.096, RAW= 249.3,  -1.2, CAL= 251.7,  -1.7, ROT= 258.3,   1.7

2025-06-05T16:35:07.801Z,1749141307.801 [DAT](INFO): DAT read: Bearing 258.3,   1.7 (Local)

2025-06-05T16:35:07.801Z,1749141307.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.3,   1.7 (Local)

2025-06-05T16:35:07.807Z,1749141307.807 [DAT](INFO): DAT read: Range 10 to 50 : 765.6 m  (Round-trip  1020.9 ms) speed -0.2 m/s

2025-06-05T16:35:07.808Z,1749141307.808 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:35:07.810Z,1749141307.810 [DAT](INFO): direction in FSK: [-0.202698,-0.978792,-0.029666]
2025-06-05T16:35:07.817Z,1749141307.817 [DAT](INFO): publishing direction and range info
2025-06-05T16:35:18.419Z,1749141318.419 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:35:19.422Z,1749141319.422 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:35:44.821Z,1749141344.821 [BPC1](ERROR): BPC1B: No match for serial number FFFF in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-06-05T16:35:44.877Z,1749141344.877 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3278,V
2025-06-05T16:35:49.559Z,1749141349.559 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:35:50.563Z,1749141350.563 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:36:02.200Z,1749141362.200 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060508371827,35.0, +10.7,   0.0,1492.7, ,  0.00, 234.42, 218.12, 213.02
2025-06-05T16:36:03.101Z,1749141363.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:36:03.255Z,1749141363.255 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:36:03.255Z,1749141363.255 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:36:03.507Z,1749141363.507 [DAT](INFO): DAT read: user:2343>

2025-06-05T16:36:03.508Z,1749141363.508 [DAT](INFO): DAT read: Tx time:16:36:02.5979

2025-06-05T16:36:03.508Z,1749141363.508 [DAT](INFO): Ping request sent.
2025-06-05T16:36:03.508Z,1749141363.508 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:36:03.510Z,1749141363.510 [DAT](INFO): DAT read: TxSync time:16:36:02.5971

2025-06-05T16:36:03.511Z,1749141363.511 [DAT](INFO): publishing transmit ping time
2025-06-05T16:36:03.511Z,1749141363.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002996
2025-06-05T16:36:03.761Z,1749141363.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251781
2025-06-05T16:36:04.015Z,1749141364.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505998
2025-06-05T16:36:04.263Z,1749141364.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754798
2025-06-05T16:36:04.515Z,1749141364.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006865
2025-06-05T16:36:04.767Z,1749141364.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258637
2025-06-05T16:36:05.021Z,1749141365.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512254
2025-06-05T16:36:05.271Z,1749141365.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762939
2025-06-05T16:36:05.524Z,1749141365.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015452
2025-06-05T16:36:05.775Z,1749141365.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266667
2025-06-05T16:36:06.028Z,1749141366.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519786
2025-06-05T16:36:06.279Z,1749141366.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770935
2025-06-05T16:36:06.532Z,1749141366.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023616
2025-06-05T16:36:06.783Z,1749141366.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274804
2025-06-05T16:36:07.035Z,1749141367.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526579
2025-06-05T16:36:07.287Z,1749141367.287 [DAT](INFO): DAT read: Rx Time:16:36:05.9987

2025-06-05T16:36:07.288Z,1749141367.288 [DAT](INFO): Rx dataTimestamp_ set to:1749141367.287380
2025-06-05T16:36:07.288Z,1749141367.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779768
2025-06-05T16:36:07.541Z,1749141367.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032178
2025-06-05T16:36:07.793Z,1749141367.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284446
2025-06-05T16:36:08.053Z,1749141368.053 [DAT](INFO): DAT read: 16:36:05.9987 LVL= 15216, 27857, 24802, 30595, AGC= 72, IDX= 170,-0.23, 3.129, 1.421, 1.802, 2.286, PHS= 0.931,-0.818,-0.487, RAW= 100.3,   4.7, CAL= 110.4,   2.9, ROT=  39.6,  -2.9

2025-06-05T16:36:08.055Z,1749141368.055 [DAT](INFO): got valid direction response:
 16:36:05.9987 LVL= 15216, 27857, 24802, 30595, AGC= 72, IDX= 170,-0.23, 3.129, 1.421, 1.802, 2.286, PHS= 0.931,-0.818,-0.487, RAW= 100.3,   4.7, CAL= 110.4,   2.9, ROT=  39.6,  -2.9

2025-06-05T16:36:08.056Z,1749141368.056 [DAT](INFO): DAT read: Bearing  39.6,  -2.9 (Local)

2025-06-05T16:36:08.056Z,1749141368.056 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.6,  -2.9 (Local)

2025-06-05T16:36:08.057Z,1749141368.057 [DAT](INFO): DAT read: Range 10 to 50 : 747.4 m  (Round-trip  996.6 ms) speed  0.4 m/s

2025-06-05T16:36:08.058Z,1749141368.058 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:36:08.060Z,1749141368.060 [DAT](INFO): direction in FSK: [0.769527,0.636608,0.050593]
2025-06-05T16:36:08.060Z,1749141368.060 [DAT](INFO): publishing direction and range info
2025-06-05T16:36:20.686Z,1749141380.686 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:36:21.691Z,1749141381.691 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:36:51.823Z,1749141411.823 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:36:52.829Z,1749141412.829 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:37:03.366Z,1749141423.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:37:03.532Z,1749141423.532 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:37:03.532Z,1749141423.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:37:03.783Z,1749141423.783 [DAT](INFO): DAT read: user:2344>

2025-06-05T16:37:03.784Z,1749141423.784 [DAT](INFO): DAT read: Tx time:16:37:02.8984

2025-06-05T16:37:03.784Z,1749141423.784 [DAT](INFO): Ping request sent.
2025-06-05T16:37:03.784Z,1749141423.784 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:37:03.785Z,1749141423.785 [DAT](INFO): publishing transmit ping time
2025-06-05T16:37:03.787Z,1749141423.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001190
2025-06-05T16:37:04.038Z,1749141424.038 [DAT](INFO): DAT read: TxSync time:16:37:02.8976

2025-06-05T16:37:04.041Z,1749141424.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256838
2025-06-05T16:37:04.291Z,1749141424.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506772
2025-06-05T16:37:04.545Z,1749141424.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760236
2025-06-05T16:37:04.795Z,1749141424.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010644
2025-06-05T16:37:05.048Z,1749141425.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263503
2025-06-05T16:37:05.299Z,1749141425.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514665
2025-06-05T16:37:05.552Z,1749141425.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767661
2025-06-05T16:37:05.804Z,1749141425.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019506
2025-06-05T16:37:06.056Z,1749141426.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271504
2025-06-05T16:37:06.307Z,1749141426.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522695
2025-06-05T16:37:06.561Z,1749141426.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776835
2025-06-05T16:37:06.811Z,1749141426.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026939
2025-06-05T16:37:07.064Z,1749141427.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279991
2025-06-05T16:37:07.315Z,1749141427.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530877
2025-06-05T16:37:07.321Z,1749141427.321 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -12  +3091.16,      -37.01,  25.24,  0.00
2025-06-05T16:37:07.567Z,1749141427.567 [DAT](INFO): DAT read: Rx Time:16:37:06.2728

2025-06-05T16:37:07.568Z,1749141427.568 [DAT](INFO): Rx dataTimestamp_ set to:1749141427.567257
2025-06-05T16:37:07.568Z,1749141427.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783720
2025-06-05T16:37:07.819Z,1749141427.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034805
2025-06-05T16:37:08.075Z,1749141428.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290567
2025-06-05T16:37:08.334Z,1749141428.334 [DAT](INFO): DAT read: 16:37:06.2728 LVL= 14640, 18353, 14050, 21075, AGC= 74, IDX= 131,-0.15,-0.785,-2.378,-2.112,-1.686, PHS= 0.988,-0.645,-0.430, RAW=  97.0,   1.1, CAL= 106.2,  -2.1, ROT=  43.8,   2.1

2025-06-05T16:37:08.335Z,1749141428.335 [DAT](INFO): got valid direction response:
 16:37:06.2728 LVL= 14640, 18353, 14050, 21075, AGC= 74, IDX= 131,-0.15,-0.785,-2.378,-2.112,-1.686, PHS= 0.988,-0.645,-0.430, RAW=  97.0,   1.1, CAL= 106.2,  -2.1, ROT=  43.8,   2.1

2025-06-05T16:37:08.336Z,1749141428.336 [DAT](INFO): DAT read: $Error in header

2025-06-05T16:37:08.336Z,1749141428.336 [DAT](INFO): Received a bad header
2025-06-05T16:37:08.350Z,1749141428.350 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T16:37:08.351Z,1749141428.351 [DAT](INFO): direction in FSK: [0.721276,0.691678,-0.036644]
2025-06-05T16:37:13.877Z,1749141433.877 [DAT](INFO): Reached modem response timeout
2025-06-05T16:37:14.637Z,1749141434.637 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:37:14.638Z,1749141434.638 [DAT](INFO): response not received
2025-06-05T16:37:14.638Z,1749141434.638 [DAT](ERROR): No response from remote modem.
2025-06-05T16:37:22.947Z,1749141442.947 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:37:23.950Z,1749141443.950 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:37:26.646Z,1749141446.646 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:37:27.246Z,1749141447.246 [CTD_Seabird](ERROR): Failed to parse device response: ,9.8782,3.67052,8023.18
2025-06-05T16:37:54.082Z,1749141474.082 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:37:55.087Z,1749141475.087 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:38:03.535Z,1749141483.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:38:03.592Z,1749141483.592 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:38:03.593Z,1749141483.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:38:03.846Z,1749141483.846 [DAT](INFO): DAT read: 

2025-06-05T16:38:03.848Z,1749141483.848 [DAT](INFO): DAT read: Tx time:16:38:02.9490

2025-06-05T16:38:03.849Z,1749141483.849 [DAT](INFO): Ping request sent.
2025-06-05T16:38:03.850Z,1749141483.850 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:38:03.851Z,1749141483.851 [DAT](INFO): publishing transmit ping time
2025-06-05T16:38:03.853Z,1749141483.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003139
2025-06-05T16:38:04.096Z,1749141484.096 [DAT](INFO): DAT read: TxSync time:16:38:02.9482

2025-06-05T16:38:04.097Z,1749141484.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247422
2025-06-05T16:38:04.347Z,1749141484.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497774
2025-06-05T16:38:04.599Z,1749141484.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750039
2025-06-05T16:38:04.854Z,1749141484.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004471
2025-06-05T16:38:05.103Z,1749141485.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253835
2025-06-05T16:38:05.355Z,1749141485.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505662
2025-06-05T16:38:05.607Z,1749141485.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757829
2025-06-05T16:38:05.863Z,1749141485.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013035
2025-06-05T16:38:06.113Z,1749141486.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263624
2025-06-05T16:38:06.363Z,1749141486.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513836
2025-06-05T16:38:06.615Z,1749141486.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765697
2025-06-05T16:38:06.871Z,1749141486.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021561
2025-06-05T16:38:07.119Z,1749141487.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269928
2025-06-05T16:38:07.371Z,1749141487.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521791
2025-06-05T16:38:07.623Z,1749141487.623 [DAT](INFO): DAT read: Rx Time:16:38:06.2698

2025-06-05T16:38:07.624Z,1749141487.624 [DAT](INFO): Rx dataTimestamp_ set to:1749141487.623416
2025-06-05T16:38:07.624Z,1749141487.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774951
2025-06-05T16:38:07.878Z,1749141487.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028277
2025-06-05T16:38:08.137Z,1749141488.137 [DAT](INFO): DAT read: 16:38:06.2698 LVL= 21632, 20433, 20978, 22867, AGC= 68, IDX= 407,-0.21,-2.370, 2.211,-2.622,-3.122, PHS= 0.839,-0.903, 0.497, RAW= 139.3,  -5.5, CAL= 145.0, -15.2, ROT=   5.0,  15.2

2025-06-05T16:38:08.140Z,1749141488.140 [DAT](INFO): got valid direction response:
 16:38:06.2698 LVL= 21632, 20433, 20978, 22867, AGC= 68, IDX= 407,-0.21,-2.370, 2.211,-2.622,-3.122, PHS= 0.839,-0.903, 0.497, RAW= 139.3,  -5.5, CAL= 145.0, -15.2, ROT=   5.0,  15.2

2025-06-05T16:38:08.141Z,1749141488.141 [DAT](INFO): DAT read: $Error in header

2025-06-05T16:38:08.142Z,1749141488.142 [DAT](INFO): Received a bad header
2025-06-05T16:38:08.155Z,1749141488.155 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T16:38:08.156Z,1749141488.156 [DAT](INFO): direction in FSK: [0.961344,0.084107,-0.262189]
2025-06-05T16:38:13.928Z,1749141493.928 [DAT](INFO): Reached modem response timeout
2025-06-05T16:38:14.687Z,1749141494.687 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:38:14.687Z,1749141494.687 [DAT](INFO): response not received
2025-06-05T16:38:14.688Z,1749141494.688 [DAT](ERROR): No response from remote modem.
2025-06-05T16:38:25.219Z,1749141505.219 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:38:26.223Z,1749141506.223 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:38:56.347Z,1749141536.347 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:38:57.351Z,1749141537.351 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:39:03.804Z,1749141543.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:39:03.840Z,1749141543.840 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:39:03.840Z,1749141543.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:39:04.091Z,1749141544.091 [DAT](INFO): DAT read: 

2025-06-05T16:39:04.092Z,1749141544.092 [DAT](INFO): DAT read: Tx time:16:39:03.1995

2025-06-05T16:39:04.092Z,1749141544.092 [DAT](INFO): Ping request sent.
2025-06-05T16:39:04.092Z,1749141544.092 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:39:04.092Z,1749141544.092 [DAT](INFO): publishing transmit ping time
2025-06-05T16:39:04.093Z,1749141544.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000789
2025-06-05T16:39:04.343Z,1749141544.343 [DAT](INFO): DAT read: TxSync time:16:39:03.1987

2025-06-05T16:39:04.344Z,1749141544.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251889
2025-06-05T16:39:04.599Z,1749141544.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506585
2025-06-05T16:39:04.851Z,1749141544.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759143
2025-06-05T16:39:05.103Z,1749141545.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011130
2025-06-05T16:39:05.359Z,1749141545.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267399
2025-06-05T16:39:05.612Z,1749141545.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520473
2025-06-05T16:39:05.864Z,1749141545.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771533
2025-06-05T16:39:06.115Z,1749141546.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023356
2025-06-05T16:39:06.367Z,1749141546.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275229
2025-06-05T16:39:06.623Z,1749141546.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530365
2025-06-05T16:39:06.871Z,1749141546.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779047
2025-06-05T16:39:07.123Z,1749141547.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031222
2025-06-05T16:39:07.375Z,1749141547.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283145
2025-06-05T16:39:07.628Z,1749141547.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536490
2025-06-05T16:39:07.880Z,1749141547.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787455
2025-06-05T16:39:08.131Z,1749141548.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039158
2025-06-05T16:39:08.383Z,1749141548.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291117
2025-06-05T16:39:08.635Z,1749141548.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543129
2025-06-05T16:39:08.887Z,1749141548.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795028
2025-06-05T16:39:09.140Z,1749141549.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047625
2025-06-05T16:39:09.391Z,1749141549.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299417
2025-06-05T16:39:09.644Z,1749141549.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551844
2025-06-05T16:39:09.896Z,1749141549.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803653
2025-06-05T16:39:10.147Z,1749141550.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055232
2025-06-05T16:39:10.399Z,1749141550.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307328
2025-06-05T16:39:10.651Z,1749141550.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559441
2025-06-05T16:39:10.903Z,1749141550.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811085
2025-06-05T16:39:11.155Z,1749141551.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063177
2025-06-05T16:39:11.407Z,1749141551.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315107
2025-06-05T16:39:11.659Z,1749141551.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567142
2025-06-05T16:39:11.912Z,1749141551.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.820100
2025-06-05T16:39:12.164Z,1749141552.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071664
2025-06-05T16:39:12.416Z,1749141552.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323808
2025-06-05T16:39:12.667Z,1749141552.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575035
2025-06-05T16:39:12.920Z,1749141552.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827784
2025-06-05T16:39:13.171Z,1749141553.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079113
2025-06-05T16:39:13.423Z,1749141553.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331090
2025-06-05T16:39:13.678Z,1749141553.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585150
2025-06-05T16:39:13.928Z,1749141553.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836440
2025-06-05T16:39:14.180Z,1749141554.180 [DAT](INFO): Reached modem response timeout
2025-06-05T16:39:14.936Z,1749141554.936 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:39:14.937Z,1749141554.937 [DAT](INFO): response not received
2025-06-05T16:39:14.937Z,1749141554.937 [DAT](ERROR): No response from remote modem.
2025-06-05T16:39:15.084Z,1749141555.084 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS8403116,35.0, +10.7,   0.0,1492.4,  0
2025-06-05T16:39:25.990Z,1749141565.990 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-05T16:39:27.472Z,1749141567.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:39:28.475Z,1749141568.475 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:39:38.981Z,1749141578.981 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-05T16:39:51.504Z,1749141591.504 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-05T16:39:58.612Z,1749141598.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:39:59.615Z,1749141599.615 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:40:04.048Z,1749141604.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:40:04.116Z,1749141604.116 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:40:04.116Z,1749141604.116 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:40:04.367Z,1749141604.367 [DAT](INFO): DAT read: user:2347>

2025-06-05T16:40:04.368Z,1749141604.368 [DAT](INFO): DAT read: Tx time:16:40:03.5000

2025-06-05T16:40:04.368Z,1749141604.368 [DAT](INFO): Ping request sent.
2025-06-05T16:40:04.368Z,1749141604.368 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:40:04.368Z,1749141604.368 [DAT](INFO): publishing transmit ping time
2025-06-05T16:40:04.369Z,1749141604.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-06-05T16:40:04.622Z,1749141604.622 [DAT](INFO): DAT read: TxSync time:16:40:03.4992

2025-06-05T16:40:04.625Z,1749141604.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256179
2025-06-05T16:40:04.847Z,1749141604.847 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-05T16:40:04.871Z,1749141604.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502991
2025-06-05T16:40:05.123Z,1749141605.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754823
2025-06-05T16:40:05.375Z,1749141605.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007000
2025-06-05T16:40:05.630Z,1749141605.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261279
2025-06-05T16:40:05.879Z,1749141605.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510980
2025-06-05T16:40:06.132Z,1749141606.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763582
2025-06-05T16:40:06.383Z,1749141606.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014890
2025-06-05T16:40:06.638Z,1749141606.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269375
2025-06-05T16:40:06.887Z,1749141606.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519005
2025-06-05T16:40:07.139Z,1749141607.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770795
2025-06-05T16:40:07.392Z,1749141607.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023326
2025-06-05T16:40:07.644Z,1749141607.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275350
2025-06-05T16:40:07.896Z,1749141607.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527482
2025-06-05T16:40:08.148Z,1749141608.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779405
2025-06-05T16:40:08.399Z,1749141608.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030940
2025-06-05T16:40:08.654Z,1749141608.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285213
2025-06-05T16:40:08.903Z,1749141608.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534942
2025-06-05T16:40:09.155Z,1749141609.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786927
2025-06-05T16:40:09.407Z,1749141609.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039184
2025-06-05T16:40:09.661Z,1749141609.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292628
2025-06-05T16:40:09.911Z,1749141609.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543287
2025-06-05T16:40:10.164Z,1749141610.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795881
2025-06-05T16:40:10.415Z,1749141610.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047178
2025-06-05T16:40:10.668Z,1749141610.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299391
2025-06-05T16:40:10.919Z,1749141610.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550929
2025-06-05T16:40:11.171Z,1749141611.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802871
2025-06-05T16:40:11.424Z,1749141611.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056240
2025-06-05T16:40:11.675Z,1749141611.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307001
2025-06-05T16:40:11.928Z,1749141611.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559917
2025-06-05T16:40:12.180Z,1749141612.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811441
2025-06-05T16:40:12.431Z,1749141612.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062910
2025-06-05T16:40:12.684Z,1749141612.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315417
2025-06-05T16:40:12.939Z,1749141612.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570139
2025-06-05T16:40:13.187Z,1749141613.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819078
2025-06-05T16:40:13.441Z,1749141613.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072276
2025-06-05T16:40:13.691Z,1749141613.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322977
2025-06-05T16:40:13.944Z,1749141613.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575196
2025-06-05T16:40:14.195Z,1749141614.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827172
2025-06-05T16:40:14.447Z,1749141614.447 [DAT](INFO): Reached modem response timeout
2025-06-05T16:40:15.203Z,1749141615.203 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:40:15.203Z,1749141615.203 [DAT](INFO): response not received
2025-06-05T16:40:15.204Z,1749141615.204 [DAT](ERROR): No response from remote modem.
2025-06-05T16:40:29.738Z,1749141629.738 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:40:30.743Z,1749141630.743 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:41:00.271Z,1749141660.271 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:41:00.871Z,1749141660.871 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:41:01.874Z,1749141661.874 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:41:04.361Z,1749141664.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:41:04.612Z,1749141664.612 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:41:04.612Z,1749141664.612 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:41:04.864Z,1749141664.864 [DAT](INFO): DAT read: user:2348>

2025-06-05T16:41:04.865Z,1749141664.865 [DAT](INFO): DAT read: Tx time:16:41:03.9504

2025-06-05T16:41:04.866Z,1749141664.866 [DAT](INFO): Ping request sent.
2025-06-05T16:41:04.866Z,1749141664.866 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:41:04.867Z,1749141664.867 [DAT](INFO): DAT read: TxSync time:16:41:03.9497

2025-06-05T16:41:04.867Z,1749141664.867 [DAT](INFO): publishing transmit ping time
2025-06-05T16:41:04.868Z,1749141664.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002416
2025-06-05T16:41:05.115Z,1749141665.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249401
2025-06-05T16:41:05.367Z,1749141665.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501331
2025-06-05T16:41:05.619Z,1749141665.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753725
2025-06-05T16:41:05.871Z,1749141665.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005439
2025-06-05T16:41:06.123Z,1749141666.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257310
2025-06-05T16:41:06.375Z,1749141666.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509430
2025-06-05T16:41:06.629Z,1749141666.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762519
2025-06-05T16:41:06.880Z,1749141666.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014159
2025-06-05T16:41:07.131Z,1749141667.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265403
2025-06-05T16:41:07.387Z,1749141667.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521461
2025-06-05T16:41:07.639Z,1749141667.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773389
2025-06-05T16:41:07.891Z,1749141667.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025347
2025-06-05T16:41:08.144Z,1749141668.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277491
2025-06-05T16:41:08.396Z,1749141668.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530752
2025-06-05T16:41:08.647Z,1749141668.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781446
2025-06-05T16:41:08.900Z,1749141668.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034127
2025-06-05T16:41:09.151Z,1749141669.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285286
2025-06-05T16:41:09.403Z,1749141669.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537371
2025-06-05T16:41:09.655Z,1749141669.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789492
2025-06-05T16:41:09.907Z,1749141669.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041313
2025-06-05T16:41:10.160Z,1749141670.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294087
2025-06-05T16:41:10.412Z,1749141670.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546550
2025-06-05T16:41:10.663Z,1749141670.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797382
2025-06-05T16:41:10.915Z,1749141670.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049499
2025-06-05T16:41:11.167Z,1749141671.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301402
2025-06-05T16:41:11.419Z,1749141671.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553354
2025-06-05T16:41:11.671Z,1749141671.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805718
2025-06-05T16:41:11.923Z,1749141671.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057659
2025-06-05T16:41:12.175Z,1749141672.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309412
2025-06-05T16:41:12.429Z,1749141672.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562612
2025-06-05T16:41:12.681Z,1749141672.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814847
2025-06-05T16:41:12.932Z,1749141672.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066001
2025-06-05T16:41:13.183Z,1749141673.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317372
2025-06-05T16:41:13.436Z,1749141673.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570243
2025-06-05T16:41:13.687Z,1749141673.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821404
2025-06-05T16:41:13.940Z,1749141673.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074496
2025-06-05T16:41:14.191Z,1749141674.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325735
2025-06-05T16:41:14.444Z,1749141674.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577436
2025-06-05T16:41:14.698Z,1749141674.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831480
2025-06-05T16:41:14.947Z,1749141674.947 [DAT](INFO): Reached modem response timeout
2025-06-05T16:41:15.706Z,1749141675.706 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:41:15.712Z,1749141675.712 [DAT](INFO): response not received
2025-06-05T16:41:15.712Z,1749141675.712 [DAT](ERROR): No response from remote modem.
2025-06-05T16:41:31.998Z,1749141691.998 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:41:33.003Z,1749141693.003 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:42:03.134Z,1749141723.134 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:42:04.139Z,1749141724.139 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:42:04.663Z,1749141724.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:42:04.675Z,1749141724.675 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:42:04.675Z,1749141724.675 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:42:04.929Z,1749141724.929 [DAT](INFO): DAT read: user:2349>

2025-06-05T16:42:04.932Z,1749141724.932 [DAT](INFO): DAT read: Tx time:16:42:04.0509

2025-06-05T16:42:04.932Z,1749141724.932 [DAT](INFO): Ping request sent.
2025-06-05T16:42:04.933Z,1749141724.933 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:42:04.933Z,1749141724.933 [DAT](INFO): publishing transmit ping time
2025-06-05T16:42:04.943Z,1749141724.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.010081
2025-06-05T16:42:05.180Z,1749141725.180 [DAT](INFO): DAT read: TxSync time:16:42:04.0501

2025-06-05T16:42:05.181Z,1749141725.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248207
2025-06-05T16:42:05.434Z,1749141725.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500871
2025-06-05T16:42:05.683Z,1749141725.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750615
2025-06-05T16:42:05.937Z,1749141725.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004281
2025-06-05T16:42:06.187Z,1749141726.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254653
2025-06-05T16:42:06.442Z,1749141726.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508732
2025-06-05T16:42:06.691Z,1749141726.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758815
2025-06-05T16:42:06.943Z,1749141726.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010756
2025-06-05T16:42:07.197Z,1749141727.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264085
2025-06-05T16:42:07.449Z,1749141727.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516415
2025-06-05T16:42:07.699Z,1749141727.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766682
2025-06-05T16:42:07.952Z,1749141727.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020019
2025-06-05T16:42:08.204Z,1749141728.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271404
2025-06-05T16:42:08.457Z,1749141728.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524394
2025-06-05T16:42:08.707Z,1749141728.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775027
2025-06-05T16:42:08.959Z,1749141728.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026697
2025-06-05T16:42:09.212Z,1749141729.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279489
2025-06-05T16:42:09.466Z,1749141729.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533237
2025-06-05T16:42:09.469Z,1749141729.469 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:42:09.715Z,1749141729.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782837
2025-06-05T16:42:09.968Z,1749141729.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035258
2025-06-05T16:42:10.219Z,1749141730.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286638
2025-06-05T16:42:10.477Z,1749141730.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541365
2025-06-05T16:42:10.723Z,1749141730.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790691
2025-06-05T16:42:10.975Z,1749141730.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042937
2025-06-05T16:42:11.228Z,1749141731.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295396
2025-06-05T16:42:11.482Z,1749141731.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549204
2025-06-05T16:42:11.731Z,1749141731.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.798602
2025-06-05T16:42:11.983Z,1749141731.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051042
2025-06-05T16:42:12.235Z,1749141732.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.302567
2025-06-05T16:42:12.490Z,1749141732.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557504
2025-06-05T16:42:12.739Z,1749141732.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.806749
2025-06-05T16:42:12.991Z,1749141732.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058725
2025-06-05T16:42:13.243Z,1749141733.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.310742
2025-06-05T16:42:13.496Z,1749141733.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563312
2025-06-05T16:42:13.747Z,1749141733.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.814708
2025-06-05T16:42:13.000Z,1749141734.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067440
2025-06-05T16:42:14.251Z,1749141734.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318702
2025-06-05T16:42:14.504Z,1749141734.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570842
2025-06-05T16:42:14.755Z,1749141734.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823003
2025-06-05T16:42:15.007Z,1749141735.007 [DAT](INFO): Reached modem response timeout
2025-06-05T16:42:15.767Z,1749141735.767 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:42:15.768Z,1749141735.768 [DAT](INFO): response not received
2025-06-05T16:42:15.768Z,1749141735.768 [DAT](ERROR): No response from remote modem.
2025-06-05T16:42:34.267Z,1749141754.267 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:42:35.270Z,1749141755.270 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:42:45.096Z,1749141765.096 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +98,  +687,
2025-06-05T16:43:04.739Z,1749141784.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:43:04.959Z,1749141784.959 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:43:04.959Z,1749141784.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:43:05.214Z,1749141785.214 [DAT](INFO): DAT read: user:2350>

2025-06-05T16:43:05.215Z,1749141785.215 [DAT](INFO): DAT read: Tx time:16:43:04.3014

2025-06-05T16:43:05.215Z,1749141785.215 [DAT](INFO): Ping request sent.
2025-06-05T16:43:05.216Z,1749141785.216 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:43:05.216Z,1749141785.216 [DAT](INFO): publishing transmit ping time
2025-06-05T16:43:05.216Z,1749141785.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000797
2025-06-05T16:43:05.391Z,1749141785.391 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:43:05.463Z,1749141785.463 [DAT](INFO): DAT read: TxSync time:16:43:04.3006

2025-06-05T16:43:05.464Z,1749141785.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248354
2025-06-05T16:43:05.715Z,1749141785.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499684
2025-06-05T16:43:05.970Z,1749141785.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753924
2025-06-05T16:43:06.219Z,1749141786.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003596
2025-06-05T16:43:06.396Z,1749141786.396 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:43:06.471Z,1749141786.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255636
2025-06-05T16:43:06.723Z,1749141786.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507543
2025-06-05T16:43:06.975Z,1749141786.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759755
2025-06-05T16:43:07.228Z,1749141787.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011843
2025-06-05T16:43:07.458Z,1749141787.458 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,2 ,6.06,  0.00
2025-06-05T16:43:07.479Z,1749141787.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263504
2025-06-05T16:43:07.733Z,1749141787.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517152
2025-06-05T16:43:07.983Z,1749141787.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767567
2025-06-05T16:43:08.235Z,1749141788.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019476
2025-06-05T16:43:08.487Z,1749141788.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271483
2025-06-05T16:43:08.740Z,1749141788.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524113
2025-06-05T16:43:08.992Z,1749141788.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776303
2025-06-05T16:43:09.243Z,1749141789.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027769
2025-06-05T16:43:09.495Z,1749141789.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279643
2025-06-05T16:43:09.747Z,1749141789.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531625
2025-06-05T16:43:09.999Z,1749141789.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783459
2025-06-05T16:43:10.251Z,1749141790.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035501
2025-06-05T16:43:10.503Z,1749141790.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287468
2025-06-05T16:43:10.755Z,1749141790.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539634
2025-06-05T16:43:11.007Z,1749141791.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791545
2025-06-05T16:43:11.260Z,1749141791.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043970
2025-06-05T16:43:11.513Z,1749141791.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297209
2025-06-05T16:43:11.519Z,1749141791.519 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:43:11.763Z,1749141791.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.547605
2025-06-05T16:43:12.015Z,1749141792.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799567
2025-06-05T16:43:12.267Z,1749141792.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051608
2025-06-05T16:43:12.520Z,1749141792.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304469
2025-06-05T16:43:12.771Z,1749141792.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555578
2025-06-05T16:43:13.023Z,1749141793.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807701
2025-06-05T16:43:13.275Z,1749141793.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059660
2025-06-05T16:43:13.529Z,1749141793.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312751
2025-06-05T16:43:13.780Z,1749141793.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564234
2025-06-05T16:43:14.031Z,1749141794.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815580
2025-06-05T16:43:14.283Z,1749141794.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067436
2025-06-05T16:43:14.536Z,1749141794.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320037
2025-06-05T16:43:14.787Z,1749141794.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571651
2025-06-05T16:43:15.039Z,1749141795.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823692
2025-06-05T16:43:15.291Z,1749141795.291 [DAT](INFO): Reached modem response timeout
2025-06-05T16:43:16.047Z,1749141796.047 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:43:16.047Z,1749141796.047 [DAT](INFO): response not received
2025-06-05T16:43:16.048Z,1749141796.048 [DAT](ERROR): No response from remote modem.
2025-06-05T16:43:36.515Z,1749141816.515 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:43:37.519Z,1749141817.519 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:43:40.186Z,1749141820.186 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.53, 221.13, 230.30, 231.32
2025-06-05T16:44:05.015Z,1749141845.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:44:05.215Z,1749141845.215 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:44:05.216Z,1749141845.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:44:05.466Z,1749141845.466 [DAT](INFO): DAT read: user:2351>

2025-06-05T16:44:05.467Z,1749141845.467 [DAT](INFO): DAT read: Tx time:16:44:04.5519

2025-06-05T16:44:05.468Z,1749141845.468 [DAT](INFO): Ping request sent.
2025-06-05T16:44:05.468Z,1749141845.468 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:44:05.468Z,1749141845.468 [DAT](INFO): publishing transmit ping time
2025-06-05T16:44:05.469Z,1749141845.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000795
2025-06-05T16:44:05.715Z,1749141845.715 [DAT](INFO): DAT read: TxSync time:16:44:04.5511

2025-06-05T16:44:05.716Z,1749141845.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248215
2025-06-05T16:44:05.967Z,1749141845.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499275
2025-06-05T16:44:06.223Z,1749141846.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754034
2025-06-05T16:44:06.471Z,1749141846.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003222
2025-06-05T16:44:06.723Z,1749141846.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255320
2025-06-05T16:44:06.975Z,1749141846.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507371
2025-06-05T16:44:07.231Z,1749141847.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762106
2025-06-05T16:44:07.479Z,1749141847.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011652
2025-06-05T16:44:07.643Z,1749141847.643 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:44:07.731Z,1749141847.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263363
2025-06-05T16:44:07.983Z,1749141847.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515192
2025-06-05T16:44:08.238Z,1749141848.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769781
2025-06-05T16:44:08.487Z,1749141848.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019342
2025-06-05T16:44:08.647Z,1749141848.647 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:44:08.739Z,1749141848.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271339
2025-06-05T16:44:08.991Z,1749141848.991 [DAT](INFO): DAT read: Rx Time:16:44:07.5551

2025-06-05T16:44:08.992Z,1749141848.992 [DAT](INFO): Rx dataTimestamp_ set to:1749141848.991418
2025-06-05T16:44:08.992Z,1749141848.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524426
2025-06-05T16:44:09.246Z,1749141849.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777463
2025-06-05T16:44:09.504Z,1749141849.504 [DAT](INFO): DAT read: 16:44:07.5551 LVL= 17616, 22209, 17746, 22387, AGC= 73, IDX=  98,-0.02, 2.931, 1.252, 2.622, 2.167, PHS= 0.852,-0.868, 0.452, RAW= 137.2,  -5.6, CAL= 142.9, -15.8, ROT=   7.1,  15.8

2025-06-05T16:44:09.505Z,1749141849.505 [DAT](INFO): got valid direction response:
 16:44:07.5551 LVL= 17616, 22209, 17746, 22387, AGC= 73, IDX=  98,-0.02, 2.931, 1.252, 2.622, 2.167, PHS= 0.852,-0.868, 0.452, RAW= 137.2,  -5.6, CAL= 142.9, -15.8, ROT=   7.1,  15.8

2025-06-05T16:44:09.505Z,1749141849.505 [DAT](INFO): DAT read: $Error in header

2025-06-05T16:44:09.506Z,1749141849.506 [DAT](INFO): Received a bad header
2025-06-05T16:44:09.519Z,1749141849.519 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T16:44:09.520Z,1749141849.520 [DAT](INFO): direction in FSK: [0.954840,0.118932,-0.272280]
2025-06-05T16:44:15.543Z,1749141855.543 [DAT](INFO): Reached modem response timeout
2025-06-05T16:44:16.299Z,1749141856.299 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:44:16.299Z,1749141856.299 [DAT](INFO): response not received
2025-06-05T16:44:16.300Z,1749141856.300 [DAT](ERROR): No response from remote modem.
2025-06-05T16:44:38.767Z,1749141878.767 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:44:39.771Z,1749141879.771 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:45:03.399Z,1749141903.399 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:45:04.419Z,1749141904.419 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:45:05.311Z,1749141905.311 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:45:05.455Z,1749141905.455 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:45:05.455Z,1749141905.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:45:05.709Z,1749141905.709 [DAT](INFO): DAT read: 

2025-06-05T16:45:05.712Z,1749141905.712 [DAT](INFO): DAT read: Tx time:16:45:04.8024

2025-06-05T16:45:05.712Z,1749141905.712 [DAT](INFO): Ping request sent.
2025-06-05T16:45:05.712Z,1749141905.712 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:45:05.713Z,1749141905.713 [DAT](INFO): publishing transmit ping time
2025-06-05T16:45:05.714Z,1749141905.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001388
2025-06-05T16:45:05.959Z,1749141905.959 [DAT](INFO): DAT read: TxSync time:16:45:04.8016

2025-06-05T16:45:05.960Z,1749141905.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247882
2025-06-05T16:45:06.212Z,1749141906.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499233
2025-06-05T16:45:06.463Z,1749141906.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750920
2025-06-05T16:45:06.715Z,1749141906.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002971
2025-06-05T16:45:06.967Z,1749141906.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255076
2025-06-05T16:45:07.232Z,1749141907.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519473
2025-06-05T16:45:07.483Z,1749141907.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771051
2025-06-05T16:45:07.736Z,1749141907.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023577
2025-06-05T16:45:07.987Z,1749141907.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274950
2025-06-05T16:45:08.239Z,1749141908.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527363
2025-06-05T16:45:08.493Z,1749141908.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781348
2025-06-05T16:45:08.748Z,1749141908.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035504
2025-06-05T16:45:08.999Z,1749141908.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287032
2025-06-05T16:45:09.251Z,1749141909.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539090
2025-06-05T16:45:09.503Z,1749141909.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.791020
2025-06-05T16:45:09.765Z,1749141909.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.052657
2025-06-05T16:45:09.907Z,1749141909.907 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:45:10.015Z,1749141910.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.303006
2025-06-05T16:45:10.267Z,1749141910.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.555212
2025-06-05T16:45:10.532Z,1749141910.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.819770
2025-06-05T16:45:10.783Z,1749141910.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.071028
2025-06-05T16:45:10.911Z,1749141910.911 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:45:11.035Z,1749141911.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.322897
2025-06-05T16:45:11.287Z,1749141911.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.575052
2025-06-05T16:45:11.540Z,1749141911.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.827775
2025-06-05T16:45:11.797Z,1749141911.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.084790
2025-06-05T16:45:12.047Z,1749141912.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.335186
2025-06-05T16:45:12.300Z,1749141912.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.587892
2025-06-05T16:45:12.552Z,1749141912.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.839480
2025-06-05T16:45:12.803Z,1749141912.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.090975
2025-06-05T16:45:13.055Z,1749141913.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.342995
2025-06-05T16:45:13.307Z,1749141913.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.595020
2025-06-05T16:45:13.559Z,1749141913.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.846986
2025-06-05T16:45:13.814Z,1749141913.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.101532
2025-06-05T16:45:14.063Z,1749141914.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.351255
2025-06-05T16:45:14.317Z,1749141914.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.604977
2025-06-05T16:45:14.567Z,1749141914.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.855186
2025-06-05T16:45:14.819Z,1749141914.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.106939
2025-06-05T16:45:15.071Z,1749141915.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.358900
2025-06-05T16:45:15.323Z,1749141915.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.611122
2025-06-05T16:45:15.575Z,1749141915.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.862957
2025-06-05T16:45:15.829Z,1749141915.829 [DAT](INFO): Reached modem response timeout
2025-06-05T16:45:16.586Z,1749141916.586 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:45:16.586Z,1749141916.586 [DAT](INFO): response not received
2025-06-05T16:45:16.586Z,1749141916.586 [DAT](ERROR): No response from remote modem.
2025-06-05T16:45:32.754Z,1749141932.754 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-06-05T16:45:32.754Z,1749141932.754 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-06-05T16:45:32.754Z,1749141932.754 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-05T16:45:32.938Z,1749141932.938 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-05T16:45:33.108Z,1749141933.108 [RDI_Pathfinder](INFO): Powering down
2025-06-05T16:45:34.042Z,1749141934.042 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-05T16:45:34.042Z,1749141934.042 [RDI_Pathfinder] No Fault, FailCount= 1
2025-06-05T16:45:34.305Z,1749141934.305 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-05T16:45:41.031Z,1749141941.031 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:45:42.037Z,1749141942.037 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:46:05.498Z,1749141965.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:05.743Z,1749141965.743 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:46:05.743Z,1749141965.743 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:05.996Z,1749141965.996 [DAT](INFO): DAT read: user:2353>

2025-06-05T16:46:05.997Z,1749141965.997 [DAT](INFO): DAT read: Tx time:16:46:05.1029

2025-06-05T16:46:05.998Z,1749141965.998 [DAT](INFO): Ping request sent.
2025-06-05T16:46:05.998Z,1749141965.998 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:46:05.999Z,1749141965.999 [DAT](INFO): publishing transmit ping time
2025-06-05T16:46:05.000Z,1749141966.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001293
2025-06-05T16:46:06.252Z,1749141966.252 [DAT](INFO): DAT read: TxSync time:16:46:05.1021

2025-06-05T16:46:06.253Z,1749141966.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254833
2025-06-05T16:46:06.503Z,1749141966.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505110
2025-06-05T16:46:06.758Z,1749141966.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759663
2025-06-05T16:46:07.011Z,1749141967.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011799
2025-06-05T16:46:07.260Z,1749141967.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261404
2025-06-05T16:46:07.512Z,1749141967.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513720
2025-06-05T16:46:07.765Z,1749141967.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767029
2025-06-05T16:46:08.016Z,1749141968.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018096
2025-06-05T16:46:08.267Z,1749141968.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269190
2025-06-05T16:46:08.520Z,1749141968.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521493
2025-06-05T16:46:08.776Z,1749141968.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777054
2025-06-05T16:46:09.023Z,1749141969.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025174
2025-06-05T16:46:09.276Z,1749141969.276 [DAT](INFO): DAT read: Rx Time:16:46:08.0020

2025-06-05T16:46:09.277Z,1749141969.277 [DAT](INFO): Rx dataTimestamp_ set to:1749141969.276429
2025-06-05T16:46:09.277Z,1749141969.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279293
2025-06-05T16:46:09.528Z,1749141969.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529735
2025-06-05T16:46:09.783Z,1749141969.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784754
2025-06-05T16:46:10.039Z,1749141970.039 [DAT](INFO): DAT read: 16:46:08.0020 LVL= 26304, 32753, 31794, 32755, AGC= 68, IDX= 360, 0.28, 3.086, 1.525, 2.345, 2.453, PHS= 0.721,-0.881,-0.111, RAW= 118.7,   4.0, CAL= 128.6,  -0.3, ROT=  21.4,   0.3

2025-06-05T16:46:10.040Z,1749141970.040 [DAT](INFO): got valid direction response:
 16:46:08.0020 LVL= 26304, 32753, 31794, 32755, AGC= 68, IDX= 360, 0.28, 3.086, 1.525, 2.345, 2.453, PHS= 0.721,-0.881,-0.111, RAW= 118.7,   4.0, CAL= 128.6,  -0.3, ROT=  21.4,   0.3

2025-06-05T16:46:10.041Z,1749141970.041 [DAT](INFO): DAT read: Bearing  21.4,   0.3 (Local)

2025-06-05T16:46:10.041Z,1749141970.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.4,   0.3 (Local)

2025-06-05T16:46:10.043Z,1749141970.043 [DAT](INFO): DAT read: Range 10 to 50 : 371.1 m  (Round-trip  494.9 ms) speed  0.4 m/s

2025-06-05T16:46:10.043Z,1749141970.043 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:46:10.044Z,1749141970.044 [DAT](INFO): direction in FSK: [0.931043,0.364872,-0.005236]
2025-06-05T16:46:10.045Z,1749141970.045 [DAT](INFO): publishing direction and range info
2025-06-05T16:46:10.841Z,1749141970.841 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-05T16:46:10.841Z,1749141970.841 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T16:46:10.841Z,1749141970.841 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-05T16:46:10.848Z,1749141970.848 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 371.100006 m (mode  0.000000 count ).
2025-06-05T16:46:10.848Z,1749141970.848 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-05T16:46:10.848Z,1749141970.848 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-05T16:46:10.855Z,1749141970.855 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-06-05T16:46:10.856Z,1749141970.856 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-05T16:46:10.856Z,1749141970.856 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-06-05T16:46:10.856Z,1749141970.856 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 371.100006 m 
2025-06-05T16:46:10.856Z,1749141970.856 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-06-05T16:46:10.857Z,1749141970.857 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-06-05T16:46:11.253Z,1749141971.253 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-05T16:46:11.253Z,1749141971.253 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-05T16:46:11.254Z,1749141971.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:11.257Z,1749141971.257 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-06-05T16:46:11.257Z,1749141971.257 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-05T16:46:11.257Z,1749141971.257 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-06-05T16:46:11.257Z,1749141971.257 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-05T16:46:11.292Z,1749141971.292 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:11.292Z,1749141971.292 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:11.292Z,1749141971.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:11.544Z,1749141971.544 [DAT](INFO): DAT read: user:2354>

2025-06-05T16:46:11.545Z,1749141971.545 [DAT](INFO): DAT read: Tx time:16:46:10.6530

2025-06-05T16:46:11.546Z,1749141971.546 [DAT](INFO): Ping request sent.
2025-06-05T16:46:11.546Z,1749141971.546 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:46:11.547Z,1749141971.547 [DAT](INFO): publishing transmit ping time
2025-06-05T16:46:11.547Z,1749141971.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001427
2025-06-05T16:46:11.753Z,1749141971.753 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-05T16:46:11.753Z,1749141971.753 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-05T16:46:11.753Z,1749141971.753 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-05T16:46:11.753Z,1749141971.753 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-05T16:46:11.753Z,1749141971.753 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-05T16:46:11.776Z,1749141971.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-05T16:46:11.776Z,1749141971.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T16:46:11.777Z,1749141971.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-05T16:46:11.777Z,1749141971.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T16:46:11.777Z,1749141971.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-05T16:46:11.778Z,1749141971.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-05T16:46:11.785Z,1749141971.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-05T16:46:11.785Z,1749141971.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-05T16:46:11.791Z,1749141971.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-05T16:46:11.791Z,1749141971.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-05T16:46:11.792Z,1749141971.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-05T16:46:11.792Z,1749141971.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-05T16:46:11.793Z,1749141971.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-05T16:46:11.793Z,1749141971.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-05T16:46:11.793Z,1749141971.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-05T16:46:11.793Z,1749141971.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-05T16:46:11.798Z,1749141971.798 [DAT](INFO): DAT read: TxSync time:16:46:10.6522

2025-06-05T16:46:11.801Z,1749141971.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254670
2025-06-05T16:46:11.809Z,1749141971.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-05T16:46:11.814Z,1749141971.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-05T16:46:11.816Z,1749141971.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-05T16:46:11.816Z,1749141971.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-05T16:46:11.817Z,1749141971.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-05T16:46:11.817Z,1749141971.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-05T16:46:11.817Z,1749141971.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-05T16:46:11.827Z,1749141971.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-06-05T16:46:11.827Z,1749141971.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-05T16:46:11.828Z,1749141971.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-06-05T16:46:11.828Z,1749141971.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-06-05T16:46:11.828Z,1749141971.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-06-05T16:46:11.829Z,1749141971.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-05T16:46:11.829Z,1749141971.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-06-05T16:46:11.831Z,1749141971.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00.
2025-06-05T16:46:11.832Z,1749141971.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-05T16:46:11.832Z,1749141971.832 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-05T16:46:11.833Z,1749141971.833 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-05T16:46:11.833Z,1749141971.833 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-05T16:46:11.833Z,1749141971.833 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-05T16:46:11.833Z,1749141971.833 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-05T16:46:11.833Z,1749141971.833 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-05T16:46:11.833Z,1749141971.833 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-05T16:46:11.833Z,1749141971.833 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-06-05T16:46:11.833Z,1749141971.833 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-05T16:46:12.047Z,1749141972.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501560
2025-06-05T16:46:12.133Z,1749141972.133 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-05T16:46:12.134Z,1749141972.134 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T16:46:12.134Z,1749141972.134 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-05T16:46:12.134Z,1749141972.134 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T16:46:12.149Z,1749141972.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 371.100006 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-06-05T16:46:12.156Z,1749141972.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 368.256195 m,
      bearing: 339.874404 deg,
      lat: 36.906405 deg,
      lon: -122.115802 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-06-05T16:46:12.156Z,1749141972.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:12.164Z,1749141972.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 366.410461 m,
      bearing: 339.917713 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 318.400688 deg,
      new cmd heading: 339.917713 deg.

2025-06-05T16:46:12.164Z,1749141972.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932683 target range: 368.256195 and range: 371.10 m.
2025-06-05T16:46:12.183Z,1749141972.183 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:46:12.187Z,1749141972.187 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-06-05T16:46:12.188Z,1749141972.188 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-06-05T16:46:12.299Z,1749141972.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753540
2025-06-05T16:46:12.492Z,1749141972.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:12.507Z,1749141972.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 366.190430 m,
      bearing: 339.925719 deg,
      approach rate: -0.639183 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.917724 deg,
      new cmd heading: 339.925719 deg.

2025-06-05T16:46:12.508Z,1749141972.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932823 target range: 368.256195 and range: 371.10 m.
2025-06-05T16:46:12.553Z,1749141972.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006755
2025-06-05T16:46:12.806Z,1749141972.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259599
2025-06-05T16:46:12.921Z,1749141972.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:12.937Z,1749141972.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 365.902893 m,
      bearing: 339.935746 deg,
      approach rate: -0.670963 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.925729 deg,
      new cmd heading: 339.935746 deg.

2025-06-05T16:46:12.954Z,1749141972.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932998 target range: 368.256195 and range: 371.10 m.
2025-06-05T16:46:13.055Z,1749141973.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509373
2025-06-05T16:46:13.188Z,1749141973.188 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:46:13.308Z,1749141973.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762112
2025-06-05T16:46:13.389Z,1749141973.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:13.392Z,1749141973.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:13.399Z,1749141973.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 365.583679 m,
      bearing: 339.946899 deg,
      approach rate: -0.677666 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.935756 deg,
      new cmd heading: 339.946899 deg.

2025-06-05T16:46:13.399Z,1749141973.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933193 target range: 368.256195 and range: 371.10 m.
2025-06-05T16:46:13.560Z,1749141973.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014482
2025-06-05T16:46:13.815Z,1749141973.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268566
2025-06-05T16:46:13.849Z,1749141973.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:13.857Z,1749141973.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 365.314911 m,
      bearing: 339.956271 deg,
      approach rate: -0.590156 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.946902 deg,
      new cmd heading: 339.956271 deg.

2025-06-05T16:46:13.858Z,1749141973.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933356 target range: 368.256195 and range: 371.10 m.
2025-06-05T16:46:14.064Z,1749141974.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518585
2025-06-05T16:46:14.273Z,1749141974.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:14.280Z,1749141974.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 365.025604 m,
      bearing: 339.966516 deg,
      approach rate: -0.680083 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.956273 deg,
      new cmd heading: 339.966516 deg.

2025-06-05T16:46:14.281Z,1749141974.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933535 target range: 368.256195 and range: 371.10 m.
2025-06-05T16:46:14.315Z,1749141974.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769616
2025-06-05T16:46:14.568Z,1749141974.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021954
2025-06-05T16:46:14.646Z,1749141974.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:14.652Z,1749141974.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 364.789246 m,
      bearing: 339.974772 deg,
      approach rate: -0.633426 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.966519 deg,
      new cmd heading: 339.974772 deg.

2025-06-05T16:46:14.653Z,1749141974.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933679 target range: 368.256195 and range: 371.10 m.
2025-06-05T16:46:14.823Z,1749141974.823 [DAT](INFO): DAT read: Rx Time:16:46:13.5587

2025-06-05T16:46:14.825Z,1749141974.825 [DAT](INFO): Rx dataTimestamp_ set to:1749141974.823680
2025-06-05T16:46:14.827Z,1749141974.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280545
2025-06-05T16:46:15.060Z,1749141975.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:15.064Z,1749141975.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 364.533722 m,
      bearing: 339.984523 deg,
      approach rate: -0.616904 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.974770 deg,
      new cmd heading: 339.984523 deg.

2025-06-05T16:46:15.065Z,1749141975.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933849 target range: 368.256195 and range: 371.10 m.
2025-06-05T16:46:15.071Z,1749141975.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525335
2025-06-05T16:46:15.325Z,1749141975.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778925
2025-06-05T16:46:15.437Z,1749141975.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:15.440Z,1749141975.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:15.442Z,1749141975.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 364.308807 m,
      bearing: 339.992785 deg,
      approach rate: -0.592484 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.984523 deg,
      new cmd heading: 339.992785 deg.

2025-06-05T16:46:15.443Z,1749141975.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933993 target range: 368.256195 and range: 371.10 m.
2025-06-05T16:46:15.584Z,1749141975.584 [DAT](INFO): DAT read: 16:46:13.5587 LVL= 30896, 31217, 32754, 32755, AGC= 69, IDX= 508, 0.43, 1.808, 0.136, 1.355, 0.982, PHS= 0.914,-0.799, 0.370, RAW= 131.9,  -6.5, CAL= 137.1, -17.9, ROT=  12.9,  17.9

2025-06-05T16:46:15.585Z,1749141975.585 [DAT](INFO): got valid direction response:
 16:46:13.5587 LVL= 30896, 31217, 32754, 32755, AGC= 69, IDX= 508, 0.43, 1.808, 0.136, 1.355, 0.982, PHS= 0.914,-0.799, 0.370, RAW= 131.9,  -6.5, CAL= 137.1, -17.9, ROT=  12.9,  17.9

2025-06-05T16:46:15.587Z,1749141975.587 [DAT](INFO): DAT read: Bearing  12.9,  17.9 (Local)

2025-06-05T16:46:15.588Z,1749141975.588 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.9,  17.9 (Local)

2025-06-05T16:46:15.590Z,1749141975.590 [DAT](INFO): DAT read: Range 10 to 50 : 376.2 m  (Round-trip  501.6 ms) speed  0.4 m/s

2025-06-05T16:46:15.591Z,1749141975.591 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:46:15.593Z,1749141975.593 [DAT](INFO): direction in FSK: [0.927577,0.212444,-0.307357]
2025-06-05T16:46:15.593Z,1749141975.593 [DAT](INFO): publishing direction and range info
2025-06-05T16:46:15.599Z,1749141975.599 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:15.599Z,1749141975.599 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:15.599Z,1749141975.599 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:15.830Z,1749141975.829 [DAT](INFO): DAT read: user:2355>

2025-06-05T16:46:15.833Z,1749141975.833 [DAT](INFO): DAT read: Tx time:16:46:14.9530

2025-06-05T16:46:15.834Z,1749141975.834 [DAT](INFO): Ping request sent.
2025-06-05T16:46:15.834Z,1749141975.834 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:46:15.835Z,1749141975.835 [DAT](INFO): publishing transmit ping time
2025-06-05T16:46:15.837Z,1749141975.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003382
2025-06-05T16:46:16.007Z,1749141976.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 376.200012 m,
      deltaT: 5.545793 s,
      deltaX: 5.100006 m,
      approachRate: 0.919617 m/s,
      rangeRepo size: 2

2025-06-05T16:46:16.007Z,1749141976.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:16.010Z,1749141976.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 363.996857 m,
      bearing: 340.002791 deg,
      approach rate: -0.551034 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.992774 deg,
      new cmd heading: 340.002791 deg.

2025-06-05T16:46:16.015Z,1749141976.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934168 target range: 368.256195 and range: 376.20 m.
2025-06-05T16:46:16.081Z,1749141976.081 [DAT](INFO): DAT read: TxSync time:16:46:14.9522

2025-06-05T16:46:16.083Z,1749141976.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248961
2025-06-05T16:46:16.283Z,1749141976.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:16.285Z,1749141976.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 363.845520 m,
      bearing: 340.007353 deg,
      approach rate: -0.546214 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.002801 deg,
      new cmd heading: 340.007353 deg.

2025-06-05T16:46:16.291Z,1749141976.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934248 target range: 368.256195 and range: 376.20 m.
2025-06-05T16:46:16.332Z,1749141976.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498569
2025-06-05T16:46:16.583Z,1749141976.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749608
2025-06-05T16:46:16.661Z,1749141976.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:16.664Z,1749141976.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 363.623962 m,
      bearing: 340.013505 deg,
      approach rate: -0.585857 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.007363 deg,
      new cmd heading: 340.013505 deg.

2025-06-05T16:46:16.664Z,1749141976.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934355 target range: 368.256195 and range: 376.20 m.
2025-06-05T16:46:16.835Z,1749141976.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001585
2025-06-05T16:46:17.087Z,1749141977.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253636
2025-06-05T16:46:17.104Z,1749141977.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:17.111Z,1749141977.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 363.398407 m,
      bearing: 340.019452 deg,
      approach rate: -0.509012 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.013510 deg,
      new cmd heading: 340.019452 deg.

2025-06-05T16:46:17.113Z,1749141977.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934459 target range: 368.256195 and range: 376.20 m.
2025-06-05T16:46:17.339Z,1749141977.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505614
2025-06-05T16:46:17.480Z,1749141977.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:17.482Z,1749141977.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:17.504Z,1749141977.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 363.185059 m,
      bearing: 340.024333 deg,
      approach rate: -0.564868 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.019439 deg,
      new cmd heading: 340.024333 deg.

2025-06-05T16:46:17.505Z,1749141977.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934544 target range: 368.256195 and range: 376.20 m.
2025-06-05T16:46:17.594Z,1749141977.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760309
2025-06-05T16:46:17.848Z,1749141977.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013603
2025-06-05T16:46:17.967Z,1749141977.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:17.969Z,1749141977.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 362.925812 m,
      bearing: 340.029401 deg,
      approach rate: -0.534320 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.024329 deg,
      new cmd heading: 340.029401 deg.

2025-06-05T16:46:17.971Z,1749141977.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934633 target range: 368.256195 and range: 376.20 m.
2025-06-05T16:46:18.097Z,1749141978.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263108
2025-06-05T16:46:18.277Z,1749141978.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:18.281Z,1749141978.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 362.759094 m,
      bearing: 340.032046 deg,
      approach rate: -0.538081 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.029411 deg,
      new cmd heading: 340.032046 deg.

2025-06-05T16:46:18.282Z,1749141978.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934679 target range: 368.256195 and range: 376.20 m.
2025-06-05T16:46:18.348Z,1749141978.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514108
2025-06-05T16:46:18.599Z,1749141978.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765715
2025-06-05T16:46:18.675Z,1749141978.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:18.678Z,1749141978.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 362.546600 m,
      bearing: 340.034616 deg,
      approach rate: -0.533077 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.032034 deg,
      new cmd heading: 340.034616 deg.

2025-06-05T16:46:18.679Z,1749141978.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934723 target range: 368.256195 and range: 376.20 m.
2025-06-05T16:46:18.855Z,1749141978.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020948
2025-06-05T16:46:19.103Z,1749141979.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269636
2025-06-05T16:46:19.116Z,1749141979.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:19.119Z,1749141979.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 362.309570 m,
      bearing: 340.036963 deg,
      approach rate: -0.537929 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.034602 deg,
      new cmd heading: 340.036963 deg.

2025-06-05T16:46:19.120Z,1749141979.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934764 target range: 368.256195 and range: 376.20 m.
2025-06-05T16:46:19.355Z,1749141979.355 [DAT](INFO): DAT read: Rx Time:16:46:17.8547

2025-06-05T16:46:19.356Z,1749141979.356 [DAT](INFO): Rx dataTimestamp_ set to:1749141979.355233
2025-06-05T16:46:19.356Z,1749141979.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522546
2025-06-05T16:46:19.489Z,1749141979.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:19.491Z,1749141979.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:19.493Z,1749141979.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 362.103180 m,
      bearing: 340.038245 deg,
      approach rate: -0.550636 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.036952 deg,
      new cmd heading: 340.038245 deg.

2025-06-05T16:46:19.495Z,1749141979.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934787 target range: 368.256195 and range: 376.20 m.
2025-06-05T16:46:19.607Z,1749141979.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773891
2025-06-05T16:46:19.875Z,1749141979.875 [DAT](INFO): DAT read: 16:46:17.8547 LVL= 28192, 32753, 28338, 32755, AGC= 66, IDX= 403,-0.09,-2.926, 2.120,-2.919, 2.743, PHS= 0.702,-0.576, 0.618, RAW= 146.6, -12.0, CAL= 153.7, -20.4, ROT= 356.3,  20.4

2025-06-05T16:46:19.880Z,1749141979.880 [DAT](INFO): got valid direction response:
 16:46:17.8547 LVL= 28192, 32753, 28338, 32755, AGC= 66, IDX= 403,-0.09,-2.926, 2.120,-2.919, 2.743, PHS= 0.702,-0.576, 0.618, RAW= 146.6, -12.0, CAL= 153.7, -20.4, ROT= 356.3,  20.4

2025-06-05T16:46:19.887Z,1749141979.887 [DAT](INFO): DAT read: Bearing 356.3,  20.4 (Local)

2025-06-05T16:46:19.889Z,1749141979.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.3,  20.4 (Local)

2025-06-05T16:46:19.910Z,1749141979.910 [DAT](INFO): DAT read: Range 10 to 50 : 373.2 m  (Round-trip  497.6 ms) speed  0.9 m/s

2025-06-05T16:46:19.916Z,1749141979.916 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:46:19.945Z,1749141979.945 [DAT](INFO): direction in FSK: [0.935328,-0.060485,-0.348572]
2025-06-05T16:46:19.945Z,1749141979.945 [DAT](INFO): publishing direction and range info
2025-06-05T16:46:19.957Z,1749141979.957 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:19.957Z,1749141979.957 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:19.957Z,1749141979.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:20.119Z,1749141980.119 [DAT](INFO): DAT read: user:2356>

2025-06-05T16:46:20.120Z,1749141980.120 [DAT](INFO): DAT read: Tx time:16:46:19.3030

2025-06-05T16:46:20.120Z,1749141980.120 [DAT](INFO): Ping request sent.
2025-06-05T16:46:20.120Z,1749141980.120 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:46:20.120Z,1749141980.120 [DAT](INFO): publishing transmit ping time
2025-06-05T16:46:20.121Z,1749141980.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-06-05T16:46:20.123Z,1749141980.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 373.200012 m,
      deltaT: 4.283849 s,
      deltaX: -3.000000 m,
      approachRate: -0.700305 m/s,
      rangeRepo size: 3

2025-06-05T16:46:20.124Z,1749141980.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:20.135Z,1749141980.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 361.786255 m,
      bearing: 340.041405 deg,
      approach rate: -0.508302 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.038236 deg,
      new cmd heading: 340.041405 deg.

2025-06-05T16:46:20.136Z,1749141980.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934842 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:20.364Z,1749141980.364 [DAT](INFO): DAT read: TxSync time:16:46:19.3022

2025-06-05T16:46:20.365Z,1749141980.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244632
2025-06-05T16:46:20.406Z,1749141980.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:20.409Z,1749141980.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 361.615692 m,
      bearing: 340.041963 deg,
      approach rate: -0.601864 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.041405 deg,
      new cmd heading: 340.041963 deg.

2025-06-05T16:46:20.409Z,1749141980.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934852 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:20.615Z,1749141980.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495201
2025-06-05T16:46:20.743Z,1749141980.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:20.745Z,1749141980.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 361.417328 m,
      bearing: 340.042614 deg,
      approach rate: -0.575297 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.041951 deg,
      new cmd heading: 340.042614 deg.

2025-06-05T16:46:20.746Z,1749141980.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934863 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:20.868Z,1749141980.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747542
2025-06-05T16:46:21.119Z,1749141981.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999079
2025-06-05T16:46:21.243Z,1749141981.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:21.251Z,1749141981.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 361.142853 m,
      bearing: 340.041771 deg,
      approach rate: -0.548128 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.042607 deg,
      new cmd heading: 340.041771 deg.

2025-06-05T16:46:21.252Z,1749141981.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934848 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:21.374Z,1749141981.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253657
2025-06-05T16:46:21.600Z,1749141981.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:21.618Z,1749141981.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:21.621Z,1749141981.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 360.924591 m,
      bearing: 340.040582 deg,
      approach rate: -0.608700 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.041760 deg,
      new cmd heading: 340.040582 deg.

2025-06-05T16:46:21.621Z,1749141981.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934828 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:21.627Z,1749141981.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507428
2025-06-05T16:46:21.879Z,1749141981.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759053
2025-06-05T16:46:22.083Z,1749141982.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:22.086Z,1749141982.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 360.653168 m,
      bearing: 340.038464 deg,
      approach rate: -0.563807 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.040585 deg,
      new cmd heading: 340.038464 deg.

2025-06-05T16:46:22.091Z,1749141982.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934791 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:22.132Z,1749141982.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011827
2025-06-05T16:46:22.383Z,1749141982.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263410
2025-06-05T16:46:22.465Z,1749141982.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:22.496Z,1749141982.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 360.420624 m,
      bearing: 340.036646 deg,
      approach rate: -0.609857 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.038454 deg,
      new cmd heading: 340.036646 deg.

2025-06-05T16:46:22.497Z,1749141982.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934759 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:22.635Z,1749141982.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515164
2025-06-05T16:46:22.843Z,1749141982.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:22.846Z,1749141982.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 360.198944 m,
      bearing: 340.034207 deg,
      approach rate: -0.585332 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.036651 deg,
      new cmd heading: 340.034207 deg.

2025-06-05T16:46:22.867Z,1749141982.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934717 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:22.887Z,1749141982.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767331
2025-06-05T16:46:23.140Z,1749141983.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019472
2025-06-05T16:46:23.271Z,1749141983.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:23.273Z,1749141983.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 359.939789 m,
      bearing: 340.030965 deg,
      approach rate: -0.607257 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.034220 deg,
      new cmd heading: 340.030965 deg.

2025-06-05T16:46:23.274Z,1749141983.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934660 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:23.393Z,1749141983.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272962
2025-06-05T16:46:23.643Z,1749141983.643 [DAT](INFO): DAT read: Rx Time:16:46:22.2021

2025-06-05T16:46:23.643Z,1749141983.643 [DAT](INFO): Rx dataTimestamp_ set to:1749141983.643108
2025-06-05T16:46:23.644Z,1749141983.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523920
2025-06-05T16:46:23.659Z,1749141983.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:23.661Z,1749141983.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:23.708Z,1749141983.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 359.701263 m,
      bearing: 340.027766 deg,
      approach rate: -0.610860 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.030968 deg,
      new cmd heading: 340.027766 deg.

2025-06-05T16:46:23.709Z,1749141983.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934604 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:23.896Z,1749141983.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775119
2025-06-05T16:46:24.153Z,1749141984.153 [DAT](INFO): DAT read: 16:46:22.2021 LVL= 24912, 21265, 19602, 30099, AGC= 70, IDX= 407,-0.23, 1.591,-0.166, 1.790, 0.843, PHS= 0.836,-0.962, 0.944, RAW= 152.9,  -8.9, CAL= 158.7, -16.5, ROT= 351.3,  16.5

2025-06-05T16:46:24.154Z,1749141984.154 [DAT](INFO): got valid direction response:
 16:46:22.2021 LVL= 24912, 21265, 19602, 30099, AGC= 70, IDX= 407,-0.23, 1.591,-0.166, 1.790, 0.843, PHS= 0.836,-0.962, 0.944, RAW= 152.9,  -8.9, CAL= 158.7, -16.5, ROT= 351.3,  16.5

2025-06-05T16:46:24.155Z,1749141984.155 [DAT](INFO): DAT read: $Error in header

2025-06-05T16:46:24.155Z,1749141984.155 [DAT](INFO): Received a bad header
2025-06-05T16:46:24.193Z,1749141984.193 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T16:46:24.195Z,1749141984.195 [DAT](INFO): direction in FSK: [0.947787,-0.145032,-0.284015]
2025-06-05T16:46:24.233Z,1749141984.233 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:24.233Z,1749141984.233 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:24.233Z,1749141984.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:24.240Z,1749141984.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:24.251Z,1749141984.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 359.390869 m,
      bearing: 340.023728 deg,
      approach rate: -0.536111 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.027772 deg,
      new cmd heading: 340.023728 deg.

2025-06-05T16:46:24.252Z,1749141984.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934534 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:24.399Z,1749141984.399 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:24.399Z,1749141984.399 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:24.399Z,1749141984.399 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:24.638Z,1749141984.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:24.641Z,1749141984.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 359.094482 m,
      bearing: 340.019490 deg,
      approach rate: -0.744318 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.023728 deg,
      new cmd heading: 340.019490 deg.

2025-06-05T16:46:24.641Z,1749141984.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934460 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:24.651Z,1749141984.651 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:24.651Z,1749141984.651 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:24.651Z,1749141984.651 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:24.904Z,1749141984.904 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:24.904Z,1749141984.904 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:24.904Z,1749141984.904 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:25.155Z,1749141985.155 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:25.155Z,1749141985.155 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:25.155Z,1749141985.155 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:25.194Z,1749141985.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:25.237Z,1749141985.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 358.733276 m,
      bearing: 340.013206 deg,
      approach rate: -0.649963 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.019494 deg,
      new cmd heading: 340.013206 deg.

2025-06-05T16:46:25.238Z,1749141985.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934350 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:25.407Z,1749141985.407 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:25.407Z,1749141985.407 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:25.408Z,1749141985.408 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:25.585Z,1749141985.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:25.592Z,1749141985.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 358.488892 m,
      bearing: 340.008888 deg,
      approach rate: -0.624854 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.013210 deg,
      new cmd heading: 340.008888 deg.

2025-06-05T16:46:25.592Z,1749141985.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934275 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:25.660Z,1749141985.660 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:25.661Z,1749141985.661 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:25.661Z,1749141985.661 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:25.911Z,1749141985.911 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:25.911Z,1749141985.911 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:25.911Z,1749141985.911 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:26.079Z,1749141986.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:26.086Z,1749141986.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:26.089Z,1749141986.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 358.181976 m,
      bearing: 340.003429 deg,
      approach rate: -0.617225 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.008893 deg,
      new cmd heading: 340.003429 deg.

2025-06-05T16:46:26.089Z,1749141986.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934179 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:26.164Z,1749141986.164 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:26.164Z,1749141986.164 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:26.165Z,1749141986.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:26.415Z,1749141986.415 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:26.415Z,1749141986.415 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:26.415Z,1749141986.415 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:26.504Z,1749141986.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:26.506Z,1749141986.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 357.890472 m,
      bearing: 339.997275 deg,
      approach rate: -0.691308 m/s,
      LOS rate: nan deg/s,
      cmd heading: 340.003429 deg,
      new cmd heading: 339.997275 deg.

2025-06-05T16:46:26.507Z,1749141986.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934072 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:26.667Z,1749141986.667 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:26.667Z,1749141986.667 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:26.667Z,1749141986.667 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:26.846Z,1749141986.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:26.852Z,1749141986.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 357.692810 m,
      bearing: 339.993113 deg,
      approach rate: -0.577849 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.997282 deg,
      new cmd heading: 339.993113 deg.

2025-06-05T16:46:26.853Z,1749141986.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933999 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:26.920Z,1749141986.920 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:26.920Z,1749141986.920 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:26.921Z,1749141986.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:27.171Z,1749141987.171 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:27.171Z,1749141987.171 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:27.171Z,1749141987.171 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:27.273Z,1749141987.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:27.281Z,1749141987.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 357.386963 m,
      bearing: 339.986004 deg,
      approach rate: -0.716711 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.993102 deg,
      new cmd heading: 339.986004 deg.

2025-06-05T16:46:27.282Z,1749141987.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933875 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:27.423Z,1749141987.423 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:27.423Z,1749141987.423 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:27.423Z,1749141987.423 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:27.645Z,1749141987.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:27.656Z,1749141987.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 357.133057 m,
      bearing: 339.980103 deg,
      approach rate: -0.681955 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.985998 deg,
      new cmd heading: 339.980103 deg.

2025-06-05T16:46:27.657Z,1749141987.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933772 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:27.675Z,1749141987.675 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:27.675Z,1749141987.675 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:27.675Z,1749141987.675 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:27.929Z,1749141987.929 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:27.929Z,1749141987.929 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:27.930Z,1749141987.930 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:28.114Z,1749141988.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:28.116Z,1749141988.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:28.119Z,1749141988.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 356.817291 m,
      bearing: 339.972520 deg,
      approach rate: -0.669614 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.980097 deg,
      new cmd heading: 339.972520 deg.

2025-06-05T16:46:28.120Z,1749141988.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933640 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:28.180Z,1749141988.180 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:28.180Z,1749141988.180 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:28.180Z,1749141988.180 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:28.431Z,1749141988.431 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:28.431Z,1749141988.431 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:28.431Z,1749141988.431 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:28.436Z,1749141988.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:28.443Z,1749141988.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 356.613800 m,
      bearing: 339.967636 deg,
      approach rate: -0.635622 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.972529 deg,
      new cmd heading: 339.967636 deg.

2025-06-05T16:46:28.444Z,1749141988.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933555 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:28.683Z,1749141988.683 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:28.683Z,1749141988.683 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:28.683Z,1749141988.683 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:28.831Z,1749141988.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:28.834Z,1749141988.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 356.336670 m,
      bearing: 339.960971 deg,
      approach rate: -0.702097 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.967639 deg,
      new cmd heading: 339.960971 deg.

2025-06-05T16:46:28.837Z,1749141988.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933438 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:28.935Z,1749141988.935 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:28.935Z,1749141988.935 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:28.935Z,1749141988.935 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:29.187Z,1749141989.187 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:29.187Z,1749141989.187 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:29.187Z,1749141989.187 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:29.293Z,1749141989.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:29.296Z,1749141989.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 356.025665 m,
      bearing: 339.953743 deg,
      approach rate: -0.673975 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.960973 deg,
      new cmd heading: 339.953743 deg.

2025-06-05T16:46:29.297Z,1749141989.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933312 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:29.439Z,1749141989.439 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:29.439Z,1749141989.439 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:29.439Z,1749141989.439 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:29.640Z,1749141989.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:29.642Z,1749141989.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 355.791870 m,
      bearing: 339.948292 deg,
      approach rate: -0.673684 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.953733 deg,
      new cmd heading: 339.948292 deg.

2025-06-05T16:46:29.643Z,1749141989.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933217 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:29.691Z,1749141989.691 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:29.691Z,1749141989.691 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:29.691Z,1749141989.691 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:29.943Z,1749141989.943 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:29.943Z,1749141989.943 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:29.943Z,1749141989.943 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:30.102Z,1749141990.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:30.109Z,1749141990.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 355.506927 m,
      bearing: 339.941656 deg,
      approach rate: -0.616460 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.948296 deg,
      new cmd heading: 339.941656 deg.

2025-06-05T16:46:30.109Z,1749141990.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933101 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:30.196Z,1749141990.196 [DAT](INFO): Reached modem response timeout
2025-06-05T16:46:30.196Z,1749141990.196 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:46:30.196Z,1749141990.196 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:30.447Z,1749141990.447 [DAT](INFO): DAT read: 

2025-06-05T16:46:30.447Z,1749141990.447 [DAT](INFO): Reached modem response timeout
2025-06-05T16:46:30.448Z,1749141990.448 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:46:30.448Z,1749141990.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:30.467Z,1749141990.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:30.469Z,1749141990.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:30.472Z,1749141990.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 355.236298 m,
      bearing: 339.935956 deg,
      approach rate: -0.736276 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.941657 deg,
      new cmd heading: 339.935956 deg.

2025-06-05T16:46:30.473Z,1749141990.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933002 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:30.699Z,1749141990.699 [DAT](INFO): Reached modem response timeout
2025-06-05T16:46:30.699Z,1749141990.699 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:46:30.700Z,1749141990.700 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:30.856Z,1749141990.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:30.859Z,1749141990.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 354.976074 m,
      bearing: 339.930478 deg,
      approach rate: -0.672587 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.935947 deg,
      new cmd heading: 339.930478 deg.

2025-06-05T16:46:30.860Z,1749141990.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932906 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:30.952Z,1749141990.952 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:46:30.952Z,1749141990.952 [DAT](INFO): response not received
2025-06-05T16:46:30.953Z,1749141990.953 [DAT](INFO): DAT read: user:2358>

2025-06-05T16:46:30.953Z,1749141990.953 [DAT](ERROR): No response from remote modem.
2025-06-05T16:46:30.953Z,1749141990.953 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:46:30.954Z,1749141990.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:31.203Z,1749141991.203 [DAT](INFO): DAT read: Tx time:16:46:30.2531

2025-06-05T16:46:31.203Z,1749141991.203 [DAT](INFO): Ping request sent.
2025-06-05T16:46:31.204Z,1749141991.204 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:46:31.204Z,1749141991.204 [DAT](INFO): DAT read: TxSync time:16:46:30.2523

2025-06-05T16:46:31.205Z,1749141991.205 [DAT](INFO): publishing transmit ping time
2025-06-05T16:46:31.205Z,1749141991.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001548
2025-06-05T16:46:31.341Z,1749141991.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:31.348Z,1749141991.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 354.662476 m,
      bearing: 339.925083 deg,
      approach rate: -0.646500 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.930483 deg,
      new cmd heading: 339.925083 deg.

2025-06-05T16:46:31.349Z,1749141991.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932812 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:31.456Z,1749141991.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252797
2025-06-05T16:46:31.659Z,1749141991.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:31.661Z,1749141991.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 354.448608 m,
      bearing: 339.921428 deg,
      approach rate: -0.674162 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.925073 deg,
      new cmd heading: 339.921428 deg.

2025-06-05T16:46:31.675Z,1749141991.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932748 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:31.719Z,1749141991.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.514967
2025-06-05T16:46:31.959Z,1749141991.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755399
2025-06-05T16:46:32.131Z,1749141992.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:32.134Z,1749141992.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 354.185913 m,
      bearing: 339.916835 deg,
      approach rate: -0.555939 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.921440 deg,
      new cmd heading: 339.916835 deg.

2025-06-05T16:46:32.139Z,1749141992.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932668 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:32.213Z,1749141992.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009290
2025-06-05T16:46:32.464Z,1749141992.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260333
2025-06-05T16:46:32.488Z,1749141992.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:32.491Z,1749141992.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:32.493Z,1749141992.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 353.906219 m,
      bearing: 339.913112 deg,
      approach rate: -0.778462 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.916822 deg,
      new cmd heading: 339.913112 deg.

2025-06-05T16:46:32.519Z,1749141992.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932603 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:32.715Z,1749141992.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511704
2025-06-05T16:46:32.860Z,1749141992.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:32.880Z,1749141992.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 353.665955 m,
      bearing: 339.909838 deg,
      approach rate: -0.650601 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.913107 deg,
      new cmd heading: 339.909838 deg.

2025-06-05T16:46:32.881Z,1749141992.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932546 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:32.968Z,1749141992.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764511
2025-06-05T16:46:33.221Z,1749141993.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016764
2025-06-05T16:46:33.323Z,1749141993.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:33.325Z,1749141993.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 353.371185 m,
      bearing: 339.906633 deg,
      approach rate: -0.636592 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.909828 deg,
      new cmd heading: 339.906633 deg.

2025-06-05T16:46:33.331Z,1749141993.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932490 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:33.471Z,1749141993.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267710
2025-06-05T16:46:33.669Z,1749141993.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:33.672Z,1749141993.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 353.151306 m,
      bearing: 339.904197 deg,
      approach rate: -0.634294 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.906632 deg,
      new cmd heading: 339.904197 deg.

2025-06-05T16:46:33.673Z,1749141993.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932447 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:33.724Z,1749141993.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520619
2025-06-05T16:46:33.975Z,1749141993.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771553
2025-06-05T16:46:34.124Z,1749141994.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:34.155Z,1749141994.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 352.894379 m,
      bearing: 339.901365 deg,
      approach rate: -0.572950 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.904200 deg,
      new cmd heading: 339.901365 deg.

2025-06-05T16:46:34.156Z,1749141994.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932398 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:34.229Z,1749141994.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024708
2025-06-05T16:46:34.480Z,1749141994.480 [DAT](INFO): DAT read: Rx Time:16:46:33.1448

2025-06-05T16:46:34.481Z,1749141994.481 [DAT](INFO): Rx dataTimestamp_ set to:1749141994.480552
2025-06-05T16:46:34.481Z,1749141994.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277796
2025-06-05T16:46:34.565Z,1749141994.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:34.571Z,1749141994.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:34.574Z,1749141994.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 352.597137 m,
      bearing: 339.898951 deg,
      approach rate: -0.655649 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.901359 deg,
      new cmd heading: 339.898951 deg.

2025-06-05T16:46:34.580Z,1749141994.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932356 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:34.731Z,1749141994.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527790
2025-06-05T16:46:34.881Z,1749141994.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.26 m.
2025-06-05T16:46:34.884Z,1749141994.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 368.256195 m,
      nav range: 352.380951 m,
      bearing: 339.897250 deg,
      approach rate: -0.696875 m/s,
      LOS rate: nan deg/s,
      cmd heading: 339.898955 deg,
      new cmd heading: 339.897250 deg.

2025-06-05T16:46:34.885Z,1749141994.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932326 target range: 368.256195 and range: 373.20 m.
2025-06-05T16:46:34.993Z,1749141994.993 [DAT](INFO): DAT read: 16:46:33.1448 LVL= 24464, 26545, 20578, 32755, AGC= 69, IDX= 364,-0.14, 1.994, 0.533, 2.105, 1.399, PHS= 0.683,-0.819, 0.703, RAW= 150.7,  -7.6, CAL= 156.2, -15.7, ROT= 353.8,  15.7

2025-06-05T16:46:34.996Z,1749141994.996 [DAT](INFO): got valid direction response:
 16:46:33.1448 LVL= 24464, 26545, 20578, 32755, AGC= 69, IDX= 364,-0.14, 1.994, 0.533, 2.105, 1.399, PHS= 0.683,-0.819, 0.703, RAW= 150.7,  -7.6, CAL= 156.2, -15.7, ROT= 353.8,  15.7

2025-06-05T16:46:34.997Z,1749141994.997 [DAT](INFO): DAT read: Bearing 353.8,  15.7 (Local)

2025-06-05T16:46:34.997Z,1749141994.997 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.8,  15.7 (Local)

2025-06-05T16:46:35.051Z,1749141995.051 [DAT](INFO): DAT read: Range 10 to 50 : 365.6 m  (Round-trip  487.5 ms) speed  0.7 m/s

2025-06-05T16:46:35.052Z,1749141995.052 [DAT](INFO): DAT read: user:2359>

2025-06-05T16:46:35.053Z,1749141995.053 [DAT](INFO): DAT read: Tx time:16:46:34.2532

2025-06-05T16:46:35.053Z,1749141995.053 [DAT](INFO): Ping request sent.
2025-06-05T16:46:35.053Z,1749141995.053 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:46:35.053Z,1749141995.053 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:46:35.063Z,1749141995.063 [DAT](INFO): direction in FSK: [0.957061,-0.103970,-0.270600]
2025-06-05T16:46:35.063Z,1749141995.063 [DAT](INFO): publishing transmit ping time
2025-06-05T16:46:35.063Z,1749141995.063 [DAT](INFO): publishing direction and range info
2025-06-05T16:46:35.087Z,1749141995.087 [DAT](INFO): publishing transmit ping time
2025-06-05T16:46:35.087Z,1749141995.087 [DAT](INFO): publishing direction and range info
2025-06-05T16:46:35.235Z,1749141995.235 [DAT](INFO): DAT read: TxSync time:16:46:34.2524

2025-06-05T16:46:35.391Z,1749141995.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 365.600006 m,
      deltaT: 15.122663 s,
      deltaX: -7.600006 m,
      approachRate: -0.502557 m/s,
      rangeRepo size: 4

2025-06-05T16:46:35.394Z,1749141995.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 362.790009 m,
      bearing: 335.349680 deg,
      lat: 36.906308 deg,
      lon: -122.116086 deg,
      deltaT: 24.952305 s,
      deltaX: -5.466187 m,
      approachRate: -0.219065 m/s,
      posRepo size: 2

2025-06-05T16:46:35.403Z,1749141995.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.79 m.
2025-06-05T16:46:35.404Z,1749141995.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 335.349680 deg.
2025-06-05T16:46:35.405Z,1749141995.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852956 target range: 362.790009 and range: 365.60 m.
2025-06-05T16:46:35.745Z,1749141995.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.79 m.
2025-06-05T16:46:35.757Z,1749141995.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.790009 m,
      nav range: 351.487274 m,
      bearing: 335.413581 deg,
      approach rate: -0.672832 m/s,
      LOS rate: -0.013507 deg/s,
      cmd heading: 335.349693 deg,
      new cmd heading: 335.334686 deg.

2025-06-05T16:46:35.767Z,1749141995.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852695 target range: 362.790009 and range: 365.60 m.
2025-06-05T16:46:36.192Z,1749141996.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.79 m.
2025-06-05T16:46:36.198Z,1749141996.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.790009 m,
      nav range: 351.228760 m,
      bearing: 335.408408 deg,
      approach rate: -0.578534 m/s,
      LOS rate: -0.011585 deg/s,
      cmd heading: 335.334694 deg,
      new cmd heading: 335.319164 deg.

2025-06-05T16:46:36.199Z,1749141996.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852424 target range: 362.790009 and range: 365.60 m.
2025-06-05T16:46:36.564Z,1749141996.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.79 m.
2025-06-05T16:46:36.571Z,1749141996.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.790009 m,
      nav range: 350.959808 m,
      bearing: 335.401880 deg,
      approach rate: -0.721494 m/s,
      LOS rate: -0.017525 deg/s,
      cmd heading: 335.319176 deg,
      new cmd heading: 335.299578 deg.

2025-06-05T16:46:36.572Z,1749141996.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852082 target range: 362.790009 and range: 365.60 m.
2025-06-05T16:46:36.989Z,1749141996.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:36.991Z,1749141996.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.79 m.
2025-06-05T16:46:37.003Z,1749141997.003 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:37.003Z,1749141997.003 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:37.003Z,1749141997.003 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:37.011Z,1749141997.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.790009 m,
      nav range: 350.675323 m,
      bearing: 335.394903 deg,
      approach rate: -0.666274 m/s,
      LOS rate: -0.016353 deg/s,
      cmd heading: 335.299587 deg,
      new cmd heading: 335.278640 deg.

2025-06-05T16:46:37.012Z,1749141997.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851716 target range: 362.790009 and range: 365.60 m.
2025-06-05T16:46:37.255Z,1749141997.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.202214
2025-06-05T16:46:37.465Z,1749141997.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.79 m.
2025-06-05T16:46:37.472Z,1749141997.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.790009 m,
      nav range: 350.365082 m,
      bearing: 335.387157 deg,
      approach rate: -0.664853 m/s,
      LOS rate: -0.016615 deg/s,
      cmd heading: 335.278632 deg,
      new cmd heading: 335.255373 deg.

2025-06-05T16:46:37.473Z,1749141997.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851310 target range: 362.790009 and range: 365.60 m.
2025-06-05T16:46:37.507Z,1749141997.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454183
2025-06-05T16:46:37.760Z,1749141997.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.707152
2025-06-05T16:46:37.785Z,1749141997.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.79 m.
2025-06-05T16:46:37.808Z,1749141997.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.790009 m,
      nav range: 350.145447 m,
      bearing: 335.381773 deg,
      approach rate: -0.672045 m/s,
      LOS rate: -0.016485 deg/s,
      cmd heading: 335.255382 deg,
      new cmd heading: 335.239220 deg.

2025-06-05T16:46:37.809Z,1749141997.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851028 target range: 362.790009 and range: 365.60 m.
2025-06-05T16:46:38.011Z,1749141998.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957975
2025-06-05T16:46:38.232Z,1749141998.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.79 m.
2025-06-05T16:46:38.239Z,1749141998.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.790009 m,
      nav range: 349.847717 m,
      bearing: 335.374718 deg,
      approach rate: -0.665496 m/s,
      LOS rate: -0.015782 deg/s,
      cmd heading: 335.239208 deg,
      new cmd heading: 335.218027 deg.

2025-06-05T16:46:38.240Z,1749141998.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850658 target range: 362.790009 and range: 365.60 m.
2025-06-05T16:46:38.264Z,1749141998.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.210923
2025-06-05T16:46:38.515Z,1749141998.515 [DAT](INFO): DAT read: Rx Time:16:46:37.1288

2025-06-05T16:46:38.516Z,1749141998.516 [DAT](INFO): Rx dataTimestamp_ set to:1749141998.515518
2025-06-05T16:46:38.517Z,1749141998.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463322
2025-06-05T16:46:38.627Z,1749141998.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.79 m.
2025-06-05T16:46:38.631Z,1749141998.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.790009 m,
      nav range: 349.568176 m,
      bearing: 335.365715 deg,
      approach rate: -0.709108 m/s,
      LOS rate: -0.022858 deg/s,
      cmd heading: 335.218035 deg,
      new cmd heading: 335.191002 deg.

2025-06-05T16:46:38.632Z,1749141998.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850187 target range: 362.790009 and range: 365.60 m.
2025-06-05T16:46:38.767Z,1749141998.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.714405
2025-06-05T16:46:39.000Z,1749141999.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:39.003Z,1749141999.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.79 m.
2025-06-05T16:46:39.006Z,1749141999.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 362.790009 m,
      nav range: 349.309174 m,
      bearing: 335.358002 deg,
      approach rate: -0.687699 m/s,
      LOS rate: -0.020494 deg/s,
      cmd heading: 335.191014 deg,
      new cmd heading: 335.167859 deg.

2025-06-05T16:46:39.007Z,1749141999.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849782 target range: 362.790009 and range: 365.60 m.
2025-06-05T16:46:39.025Z,1749141999.025 [DAT](INFO): DAT read: 16:46:37.1288 LVL= 18624, 22001, 21458, 27699, AGC= 70, IDX= 397,-0.15,-0.950,-2.349,-0.930,-1.563, PHS= 0.701,-0.739, 0.629, RAW= 147.5,  -8.5, CAL= 153.6, -16.9, ROT= 356.4,  16.9

2025-06-05T16:46:39.026Z,1749141999.026 [DAT](INFO): got valid direction response:
 16:46:37.1288 LVL= 18624, 22001, 21458, 27699, AGC= 70, IDX= 397,-0.15,-0.950,-2.349,-0.930,-1.563, PHS= 0.701,-0.739, 0.629, RAW= 147.5,  -8.5, CAL= 153.6, -16.9, ROT= 356.4,  16.9

2025-06-05T16:46:39.027Z,1749141999.027 [DAT](INFO): DAT read: Bearing 356.4,  16.9 (Local)

2025-06-05T16:46:39.027Z,1749141999.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,  16.9 (Local)

2025-06-05T16:46:39.029Z,1749141999.029 [DAT](INFO): DAT read: Range 10 to 50 : 353.5 m  (Round-trip  471.4 ms) speed  1.1 m/s

2025-06-05T16:46:39.029Z,1749141999.029 [DAT](INFO): DAT read: user:2360>

2025-06-05T16:46:39.031Z,1749141999.031 [DAT](INFO): DAT read: Tx time:16:46:38.2532

2025-06-05T16:46:39.031Z,1749141999.031 [DAT](INFO): Ping request sent.
2025-06-05T16:46:39.031Z,1749141999.031 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:46:39.032Z,1749141999.032 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:46:39.032Z,1749141999.032 [DAT](INFO): direction in FSK: [0.954926,-0.060079,-0.290702]
2025-06-05T16:46:39.033Z,1749141999.033 [DAT](INFO): publishing transmit ping time
2025-06-05T16:46:39.033Z,1749141999.033 [DAT](INFO): publishing direction and range info
2025-06-05T16:46:39.036Z,1749141999.036 [DAT](INFO): publishing transmit ping time
2025-06-05T16:46:39.036Z,1749141999.036 [DAT](INFO): publishing direction and range info
2025-06-05T16:46:39.271Z,1749141999.271 [DAT](INFO): DAT read: TxSync time:16:46:38.2524

2025-06-05T16:46:39.547Z,1749141999.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 353.500000 m,
      deltaT: 4.035366 s,
      deltaX: -12.100006 m,
      approachRate: -2.998490 m/s,
      rangeRepo size: 4

2025-06-05T16:46:39.559Z,1749141999.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 350.781372 m,
      bearing: 335.192282 deg,
      lat: 36.906300 deg,
      lon: -122.116086 deg,
      deltaT: 4.035366 s,
      deltaX: -12.008636 m,
      approachRate: -2.975848 m/s,
      posRepo size: 3

2025-06-05T16:46:39.559Z,1749141999.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.78 m.
2025-06-05T16:46:39.571Z,1749141999.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.781372 m,
      nav range: 348.124146 m,
      bearing: 335.291021 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020494 deg/s,
      cmd heading: 335.167846 deg,
      new cmd heading: 335.134974 deg.

2025-06-05T16:46:39.572Z,1749141999.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849209 target range: 350.781372 and range: 353.50 m.
2025-06-05T16:46:39.827Z,1749141999.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.78 m.
2025-06-05T16:46:39.840Z,1749141999.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.781372 m,
      nav range: 347.913544 m,
      bearing: 335.284327 deg,
      approach rate: -0.726990 m/s,
      LOS rate: -0.023121 deg/s,
      cmd heading: 335.134980 deg,
      new cmd heading: 335.114885 deg.

2025-06-05T16:46:39.841Z,1749141999.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848858 target range: 350.781372 and range: 353.50 m.
2025-06-05T16:46:40.252Z,1749142000.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.78 m.
2025-06-05T16:46:40.259Z,1749142000.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.781372 m,
      nav range: 347.635193 m,
      bearing: 335.275467 deg,
      approach rate: -0.654681 m/s,
      LOS rate: -0.020857 deg/s,
      cmd heading: 335.114899 deg,
      new cmd heading: 335.088296 deg.

2025-06-05T16:46:40.260Z,1749142000.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848394 target range: 350.781372 and range: 353.50 m.
2025-06-05T16:46:40.638Z,1749142000.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.78 m.
2025-06-05T16:46:40.641Z,1749142000.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.781372 m,
      nav range: 347.330139 m,
      bearing: 335.267226 deg,
      approach rate: -0.791303 m/s,
      LOS rate: -0.021396 deg/s,
      cmd heading: 335.088288 deg,
      new cmd heading: 335.063543 deg.

2025-06-05T16:46:40.642Z,1749142000.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847962 target range: 350.781372 and range: 353.50 m.
2025-06-05T16:46:40.993Z,1749142000.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.78 m.
2025-06-05T16:46:40.998Z,1749142000.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.781372 m,
      nav range: 347.079987 m,
      bearing: 335.260457 deg,
      approach rate: -0.703779 m/s,
      LOS rate: -0.019056 deg/s,
      cmd heading: 335.063536 deg,
      new cmd heading: 335.043216 deg.

2025-06-05T16:46:40.999Z,1749142000.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847607 target range: 350.781372 and range: 353.50 m.
2025-06-05T16:46:41.404Z,1749142001.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:41.407Z,1749142001.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.78 m.
2025-06-05T16:46:41.409Z,1749142001.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.781372 m,
      nav range: 346.791473 m,
      bearing: 335.253806 deg,
      approach rate: -0.698072 m/s,
      LOS rate: -0.016107 deg/s,
      cmd heading: 335.043209 deg,
      new cmd heading: 335.023239 deg.

2025-06-05T16:46:41.411Z,1749142001.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847259 target range: 350.781372 and range: 353.50 m.
2025-06-05T16:46:41.540Z,1749142001.540 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:41.540Z,1749142001.540 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:41.540Z,1749142001.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:41.791Z,1749142001.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759988
2025-06-05T16:46:41.801Z,1749142001.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.78 m.
2025-06-05T16:46:41.804Z,1749142001.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.781372 m,
      nav range: 346.517395 m,
      bearing: 335.247477 deg,
      approach rate: -0.695696 m/s,
      LOS rate: -0.016077 deg/s,
      cmd heading: 335.023238 deg,
      new cmd heading: 335.004237 deg.

2025-06-05T16:46:41.805Z,1749142001.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846927 target range: 350.781372 and range: 353.50 m.
2025-06-05T16:46:42.043Z,1749142002.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012086
2025-06-05T16:46:42.192Z,1749142002.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.78 m.
2025-06-05T16:46:42.196Z,1749142002.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.781372 m,
      nav range: 346.247955 m,
      bearing: 335.241538 deg,
      approach rate: -0.689145 m/s,
      LOS rate: -0.015203 deg/s,
      cmd heading: 335.004250 deg,
      new cmd heading: 334.986418 deg.

2025-06-05T16:46:42.197Z,1749142002.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846616 target range: 350.781372 and range: 353.50 m.
2025-06-05T16:46:42.296Z,1749142002.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264669
2025-06-05T16:46:42.547Z,1749142002.547 [DAT](INFO): DAT read: Rx Time:16:46:41.1364

2025-06-05T16:46:42.548Z,1749142002.548 [DAT](INFO): Rx dataTimestamp_ set to:1749142002.548048
2025-06-05T16:46:42.549Z,1749142002.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518072
2025-06-05T16:46:42.680Z,1749142002.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.78 m.
2025-06-05T16:46:42.683Z,1749142002.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.781372 m,
      nav range: 345.910004 m,
      bearing: 335.234637 deg,
      approach rate: -0.691477 m/s,
      LOS rate: -0.014133 deg/s,
      cmd heading: 334.986409 deg,
      new cmd heading: 334.965687 deg.

2025-06-05T16:46:42.684Z,1749142002.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846254 target range: 350.781372 and range: 353.50 m.
2025-06-05T16:46:42.799Z,1749142002.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768116
2025-06-05T16:46:43.032Z,1749142003.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.78 m.
2025-06-05T16:46:43.035Z,1749142003.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.781372 m,
      nav range: 345.671631 m,
      bearing: 335.229761 deg,
      approach rate: -0.677072 m/s,
      LOS rate: -0.013860 deg/s,
      cmd heading: 334.965700 deg,
      new cmd heading: 334.951062 deg.

2025-06-05T16:46:43.036Z,1749142003.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845999 target range: 350.781372 and range: 353.50 m.
2025-06-05T16:46:43.057Z,1749142003.057 [DAT](INFO): DAT read: 16:46:41.1364 LVL= 15440, 26225, 17682, 24019, AGC= 71, IDX=   5,-0.01,-2.148, 2.828,-2.157,-2.750, PHS= 0.691,-0.658, 0.590, RAW= 146.2,  -9.6, CAL= 152.8, -18.2, ROT= 357.2,  18.2

2025-06-05T16:46:43.111Z,1749142003.111 [DAT](INFO): got valid direction response:
 16:46:41.1364 LVL= 15440, 26225, 17682, 24019, AGC= 71, IDX=   5,-0.01,-2.148, 2.828,-2.157,-2.750, PHS= 0.691,-0.658, 0.590, RAW= 146.2,  -9.6, CAL= 152.8, -18.2, ROT= 357.2,  18.2

2025-06-05T16:46:43.112Z,1749142003.112 [DAT](INFO): DAT read: Bearing 357.2,  18.2 (Local)

2025-06-05T16:46:43.112Z,1749142003.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2,  18.2 (Local)

2025-06-05T16:46:43.114Z,1749142003.114 [DAT](INFO): DAT read: Range 10 to 50 : 359.3 m  (Round-trip  479.1 ms) speed  0.8 m/s

2025-06-05T16:46:43.114Z,1749142003.114 [DAT](INFO): DAT read: user:2361>

2025-06-05T16:46:43.115Z,1749142003.115 [DAT](INFO): DAT read: Tx time:16:46:42.2532

2025-06-05T16:46:43.115Z,1749142003.115 [DAT](INFO): Ping request sent.
2025-06-05T16:46:43.115Z,1749142003.115 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:46:43.116Z,1749142003.116 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:46:43.117Z,1749142003.117 [DAT](INFO): direction in FSK: [0.948838,-0.046406,-0.312335]
2025-06-05T16:46:43.117Z,1749142003.117 [DAT](INFO): publishing transmit ping time
2025-06-05T16:46:43.117Z,1749142003.117 [DAT](INFO): publishing direction and range info
2025-06-05T16:46:43.141Z,1749142003.141 [DAT](INFO): publishing transmit ping time
2025-06-05T16:46:43.141Z,1749142003.141 [DAT](INFO): publishing direction and range info
2025-06-05T16:46:43.307Z,1749142003.307 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:46:43.307Z,1749142003.307 [DAT](INFO): DAT read: TxSync time:16:46:42.2524

2025-06-05T16:46:43.558Z,1749142003.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 359.299988 m,
      deltaT: 4.032285 s,
      deltaX: 5.799988 m,
      approachRate: 1.438387 m/s,
      rangeRepo size: 4

2025-06-05T16:46:43.560Z,1749142003.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 356.536377 m,
      bearing: 332.916484 deg,
      lat: 36.906207 deg,
      lon: -122.116087 deg,
      deltaT: 4.032285 s,
      deltaX: 5.755005 m,
      approachRate: 1.427232 m/s,
      posRepo size: 4

2025-06-05T16:46:43.562Z,1749142003.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:43.573Z,1749142003.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 336.047729 m,
      bearing: 334.472375 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013860 deg/s,
      cmd heading: 334.951056 deg,
      new cmd heading: 334.929586 deg.

2025-06-05T16:46:43.574Z,1749142003.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845624 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:43.980Z,1749142003.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:43.991Z,1749142003.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:43.994Z,1749142003.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 335.733185 m,
      bearing: 334.466339 deg,
      approach rate: -0.711464 m/s,
      LOS rate: -0.013665 deg/s,
      cmd heading: 334.929582 deg,
      new cmd heading: 334.911458 deg.

2025-06-05T16:46:44.002Z,1749142004.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845308 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:44.059Z,1749142004.059 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:44.059Z,1749142004.059 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:44.059Z,1749142004.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:44.311Z,1749142004.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.195570
2025-06-05T16:46:44.313Z,1749142004.313 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:46:44.393Z,1749142004.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:44.418Z,1749142004.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 335.456360 m,
      bearing: 334.462343 deg,
      approach rate: -0.687827 m/s,
      LOS rate: -0.009937 deg/s,
      cmd heading: 334.911468 deg,
      new cmd heading: 334.899471 deg.

2025-06-05T16:46:44.419Z,1749142004.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845098 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:44.564Z,1749142004.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.448732
2025-06-05T16:46:44.757Z,1749142004.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:44.760Z,1749142004.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 335.221252 m,
      bearing: 334.458840 deg,
      approach rate: -0.646002 m/s,
      LOS rate: -0.009632 deg/s,
      cmd heading: 334.899475 deg,
      new cmd heading: 334.888958 deg.

2025-06-05T16:46:44.761Z,1749142004.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844915 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:44.815Z,1749142004.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699778
2025-06-05T16:46:45.067Z,1749142005.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.951532
2025-06-05T16:46:45.166Z,1749142005.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:45.169Z,1749142005.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 334.957489 m,
      bearing: 334.454805 deg,
      approach rate: -0.645204 m/s,
      LOS rate: -0.009878 deg/s,
      cmd heading: 334.888956 deg,
      new cmd heading: 334.876842 deg.

2025-06-05T16:46:45.187Z,1749142005.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844704 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:45.322Z,1749142005.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205862
2025-06-05T16:46:45.571Z,1749142005.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455501
2025-06-05T16:46:45.665Z,1749142005.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:45.672Z,1749142005.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 334.653473 m,
      bearing: 334.451893 deg,
      approach rate: -0.609163 m/s,
      LOS rate: -0.005840 deg/s,
      cmd heading: 334.876853 deg,
      new cmd heading: 334.868109 deg.

2025-06-05T16:46:45.673Z,1749142005.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844551 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:45.823Z,1749142005.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.707816
2025-06-05T16:46:45.984Z,1749142005.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:45.990Z,1749142005.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:45.993Z,1749142005.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 334.446198 m,
      bearing: 334.449811 deg,
      approach rate: -0.645517 m/s,
      LOS rate: -0.006488 deg/s,
      cmd heading: 334.868110 deg,
      new cmd heading: 334.861860 deg.

2025-06-05T16:46:45.994Z,1749142005.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844442 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:46.076Z,1749142006.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.960710
2025-06-05T16:46:46.330Z,1749142006.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214214
2025-06-05T16:46:46.470Z,1749142006.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:46.477Z,1749142006.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 334.134155 m,
      bearing: 334.447153 deg,
      approach rate: -0.645689 m/s,
      LOS rate: -0.005505 deg/s,
      cmd heading: 334.861854 deg,
      new cmd heading: 334.853873 deg.

2025-06-05T16:46:46.484Z,1749142006.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844303 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:46.589Z,1749142006.589 [DAT](INFO): DAT read: 16:46:45.1215 LVL= 26480, 24561, 27954, 32755, AGC= 71, IDX= 285, 0.14,-2.970, 1.991,-2.982, 2.660, PHS= 0.741,-0.622, 0.638, RAW= 146.1, -11.5, CAL= 153.2, -20.1, ROT= 356.8,  20.1

2025-06-05T16:46:46.591Z,1749142006.591 [DAT](INFO): got valid direction response:
 16:46:45.1215 LVL= 26480, 24561, 27954, 32755, AGC= 71, IDX= 285, 0.14,-2.970, 1.991,-2.982, 2.660, PHS= 0.741,-0.622, 0.638, RAW= 146.1, -11.5, CAL= 153.2, -20.1, ROT= 356.8,  20.1

2025-06-05T16:46:46.592Z,1749142006.592 [DAT](INFO): DAT read: Rx Time:16:46:45.1215

2025-06-05T16:46:46.593Z,1749142006.593 [DAT](INFO): Rx dataTimestamp_ set to:1749142006.592083
2025-06-05T16:46:46.594Z,1749142006.594 [DAT](INFO): DAT read: $Low SNR acquisition

2025-06-05T16:46:46.594Z,1749142006.594 [DAT](INFO): Received low SNR in chirp
2025-06-05T16:46:46.607Z,1749142006.607 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T16:46:46.608Z,1749142006.608 [DAT](INFO): direction in FSK: [0.937630,-0.052422,-0.343660]
2025-06-05T16:46:46.611Z,1749142006.611 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:46.611Z,1749142006.611 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:46.611Z,1749142006.611 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:46.831Z,1749142006.831 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:46.831Z,1749142006.831 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:46.831Z,1749142006.831 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:46.898Z,1749142006.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:46.905Z,1749142006.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 333.870667 m,
      bearing: 334.444904 deg,
      approach rate: -0.615553 m/s,
      LOS rate: -0.005259 deg/s,
      cmd heading: 334.853876 deg,
      new cmd heading: 334.847123 deg.

2025-06-05T16:46:46.906Z,1749142006.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844185 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:47.083Z,1749142007.083 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:47.083Z,1749142007.083 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:47.083Z,1749142007.083 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:47.238Z,1749142007.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:47.241Z,1749142007.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 333.643768 m,
      bearing: 334.442984 deg,
      approach rate: -0.667332 m/s,
      LOS rate: -0.005650 deg/s,
      cmd heading: 334.847128 deg,
      new cmd heading: 334.841365 deg.

2025-06-05T16:46:47.242Z,1749142007.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844084 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:47.338Z,1749142007.338 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:47.339Z,1749142007.339 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:47.339Z,1749142007.339 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:47.587Z,1749142007.587 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:47.587Z,1749142007.587 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:47.587Z,1749142007.587 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:47.726Z,1749142007.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:47.735Z,1749142007.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 333.343536 m,
      bearing: 334.440250 deg,
      approach rate: -0.619864 m/s,
      LOS rate: -0.005651 deg/s,
      cmd heading: 334.841363 deg,
      new cmd heading: 334.833152 deg.

2025-06-05T16:46:47.736Z,1749142007.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843941 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:47.839Z,1749142007.839 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:47.839Z,1749142007.839 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:47.839Z,1749142007.839 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:48.091Z,1749142008.091 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:48.091Z,1749142008.091 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:48.091Z,1749142008.091 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:48.100Z,1749142008.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:48.106Z,1749142008.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:48.109Z,1749142008.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 333.093750 m,
      bearing: 334.438011 deg,
      approach rate: -0.657099 m/s,
      LOS rate: -0.005895 deg/s,
      cmd heading: 334.833140 deg,
      new cmd heading: 334.826417 deg.

2025-06-05T16:46:48.114Z,1749142008.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843823 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:48.348Z,1749142008.348 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:48.349Z,1749142008.349 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:48.349Z,1749142008.349 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:48.599Z,1749142008.599 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:48.599Z,1749142008.599 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:48.599Z,1749142008.599 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:48.610Z,1749142008.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:48.615Z,1749142008.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 332.751160 m,
      bearing: 334.433996 deg,
      approach rate: -0.674917 m/s,
      LOS rate: -0.007916 deg/s,
      cmd heading: 334.826419 deg,
      new cmd heading: 334.814364 deg.

2025-06-05T16:46:48.616Z,1749142008.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843613 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:48.853Z,1749142008.853 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:48.853Z,1749142008.853 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:48.853Z,1749142008.853 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:49.103Z,1749142009.103 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:49.103Z,1749142009.103 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:49.103Z,1749142009.103 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:49.187Z,1749142009.187 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:46:49.195Z,1749142009.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:49.197Z,1749142009.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 332.394135 m,
      bearing: 334.429810 deg,
      approach rate: -0.614914 m/s,
      LOS rate: -0.007217 deg/s,
      cmd heading: 334.814370 deg,
      new cmd heading: 334.801799 deg.

2025-06-05T16:46:49.207Z,1749142009.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843394 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:49.358Z,1749142009.358 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:49.359Z,1749142009.359 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:49.359Z,1749142009.359 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:49.608Z,1749142009.608 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:49.608Z,1749142009.608 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:49.608Z,1749142009.608 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:49.827Z,1749142009.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:49.835Z,1749142009.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 331.954651 m,
      bearing: 334.422459 deg,
      approach rate: -0.690495 m/s,
      LOS rate: -0.011566 deg/s,
      cmd heading: 334.801803 deg,
      new cmd heading: 334.779718 deg.

2025-06-05T16:46:49.836Z,1749142009.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843009 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:49.859Z,1749142009.859 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:49.859Z,1749142009.859 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:49.859Z,1749142009.859 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:50.111Z,1749142010.111 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:50.111Z,1749142010.111 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:50.111Z,1749142010.111 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:50.189Z,1749142010.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:50.197Z,1749142010.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:50.206Z,1749142010.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 331.687744 m,
      bearing: 334.417984 deg,
      approach rate: -0.722647 m/s,
      LOS rate: -0.012124 deg/s,
      cmd heading: 334.779728 deg,
      new cmd heading: 334.766294 deg.

2025-06-05T16:46:50.211Z,1749142010.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842774 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:50.366Z,1749142010.366 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:50.366Z,1749142010.366 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:50.366Z,1749142010.366 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:50.605Z,1749142010.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:50.615Z,1749142010.615 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:50.615Z,1749142010.615 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:50.615Z,1749142010.615 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:50.618Z,1749142010.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 331.416840 m,
      bearing: 334.412216 deg,
      approach rate: -0.661912 m/s,
      LOS rate: -0.014105 deg/s,
      cmd heading: 334.766286 deg,
      new cmd heading: 334.748968 deg.

2025-06-05T16:46:50.619Z,1749142010.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842472 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:50.867Z,1749142010.867 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:50.867Z,1749142010.867 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:50.867Z,1749142010.867 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:50.987Z,1749142010.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:51.006Z,1749142011.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 331.155548 m,
      bearing: 334.406646 deg,
      approach rate: -0.684142 m/s,
      LOS rate: -0.014597 deg/s,
      cmd heading: 334.748965 deg,
      new cmd heading: 334.732239 deg.

2025-06-05T16:46:51.007Z,1749142011.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842180 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:51.120Z,1749142011.120 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:51.120Z,1749142011.120 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:51.120Z,1749142011.120 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:51.373Z,1749142011.373 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:51.374Z,1749142011.374 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:51.374Z,1749142011.374 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:51.430Z,1749142011.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:51.433Z,1749142011.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 330.903748 m,
      bearing: 334.401281 deg,
      approach rate: -0.574133 m/s,
      LOS rate: -0.012241 deg/s,
      cmd heading: 334.732244 deg,
      new cmd heading: 334.716138 deg.

2025-06-05T16:46:51.438Z,1749142011.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841898 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:51.623Z,1749142011.623 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:51.623Z,1749142011.623 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:51.623Z,1749142011.623 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:51.790Z,1749142011.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:51.793Z,1749142011.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 330.612701 m,
      bearing: 334.394466 deg,
      approach rate: -0.799821 m/s,
      LOS rate: -0.018745 deg/s,
      cmd heading: 334.716125 deg,
      new cmd heading: 334.695662 deg.

2025-06-05T16:46:51.794Z,1749142011.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841541 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:51.875Z,1749142011.875 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:51.875Z,1749142011.875 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:51.875Z,1749142011.875 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:52.127Z,1749142012.127 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:52.127Z,1749142012.127 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:52.127Z,1749142012.127 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:52.190Z,1749142012.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:52.192Z,1749142012.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:52.197Z,1749142012.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 330.337921 m,
      bearing: 334.388050 deg,
      approach rate: -0.683140 m/s,
      LOS rate: -0.015965 deg/s,
      cmd heading: 334.695662 deg,
      new cmd heading: 334.676397 deg.

2025-06-05T16:46:52.198Z,1749142012.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841205 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:52.382Z,1749142012.382 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:52.383Z,1749142012.383 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:52.383Z,1749142012.383 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:52.631Z,1749142012.631 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:52.631Z,1749142012.631 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:52.631Z,1749142012.631 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:52.700Z,1749142012.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:52.707Z,1749142012.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 329.993866 m,
      bearing: 334.379958 deg,
      approach rate: -0.677514 m/s,
      LOS rate: -0.015950 deg/s,
      cmd heading: 334.676401 deg,
      new cmd heading: 334.652102 deg.

2025-06-05T16:46:52.708Z,1749142012.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840781 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:52.883Z,1749142012.883 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:52.883Z,1749142012.883 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:52.883Z,1749142012.883 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:46:53.038Z,1749142013.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:53.041Z,1749142013.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 329.769745 m,
      bearing: 334.374679 deg,
      approach rate: -0.662631 m/s,
      LOS rate: -0.015621 deg/s,
      cmd heading: 334.652112 deg,
      new cmd heading: 334.636263 deg.

2025-06-05T16:46:53.043Z,1749142013.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840505 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:53.135Z,1749142013.135 [DAT](INFO): Reached modem response timeout
2025-06-05T16:46:53.136Z,1749142013.136 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:46:53.136Z,1749142013.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:53.391Z,1749142013.391 [DAT](INFO): Reached modem response timeout
2025-06-05T16:46:53.392Z,1749142013.392 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:46:53.393Z,1749142013.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:53.537Z,1749142013.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:53.555Z,1749142013.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 329.438660 m,
      bearing: 334.367218 deg,
      approach rate: -0.665316 m/s,
      LOS rate: -0.015007 deg/s,
      cmd heading: 334.636266 deg,
      new cmd heading: 334.613863 deg.

2025-06-05T16:46:53.556Z,1749142013.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840114 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:53.639Z,1749142013.639 [DAT](INFO): Reached modem response timeout
2025-06-05T16:46:53.640Z,1749142013.640 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:46:53.640Z,1749142013.640 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:53.869Z,1749142013.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:53.872Z,1749142013.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 329.200836 m,
      bearing: 334.361872 deg,
      approach rate: -0.713110 m/s,
      LOS rate: -0.016041 deg/s,
      cmd heading: 334.613863 deg,
      new cmd heading: 334.597814 deg.

2025-06-05T16:46:53.873Z,1749142013.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839834 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:53.891Z,1749142013.891 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:46:53.891Z,1749142013.891 [DAT](INFO): response not received
2025-06-05T16:46:53.892Z,1749142013.892 [DAT](INFO): DAT read: user:2363>

2025-06-05T16:46:53.892Z,1749142013.892 [DAT](ERROR): No response from remote modem.
2025-06-05T16:46:53.892Z,1749142013.892 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:46:53.892Z,1749142013.892 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:54.143Z,1749142014.143 [DAT](INFO): DAT read: Tx time:16:46:53.2033

2025-06-05T16:46:54.143Z,1749142014.143 [DAT](INFO): Ping request sent.
2025-06-05T16:46:54.144Z,1749142014.144 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:46:54.144Z,1749142014.144 [DAT](INFO): DAT read: TxSync time:16:46:53.2025

2025-06-05T16:46:54.145Z,1749142014.145 [DAT](INFO): publishing transmit ping time
2025-06-05T16:46:54.147Z,1749142014.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003167
2025-06-05T16:46:54.276Z,1749142014.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:54.279Z,1749142014.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:54.281Z,1749142014.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 328.919861 m,
      bearing: 334.355547 deg,
      approach rate: -0.686136 m/s,
      LOS rate: -0.015460 deg/s,
      cmd heading: 334.597826 deg,
      new cmd heading: 334.578833 deg.

2025-06-05T16:46:54.283Z,1749142014.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839502 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:54.398Z,1749142014.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253869
2025-06-05T16:46:54.649Z,1749142014.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504799
2025-06-05T16:46:54.739Z,1749142014.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:54.742Z,1749142014.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 328.611664 m,
      bearing: 334.349740 deg,
      approach rate: -0.669768 m/s,
      LOS rate: -0.012631 deg/s,
      cmd heading: 334.578838 deg,
      new cmd heading: 334.561401 deg.

2025-06-05T16:46:54.743Z,1749142014.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839198 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:54.899Z,1749142014.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755654
2025-06-05T16:46:55.075Z,1749142015.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:55.094Z,1749142015.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 328.384521 m,
      bearing: 334.345420 deg,
      approach rate: -0.675087 m/s,
      LOS rate: -0.012849 deg/s,
      cmd heading: 334.561408 deg,
      new cmd heading: 334.548438 deg.

2025-06-05T16:46:55.097Z,1749142015.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838972 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:55.152Z,1749142015.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008609
2025-06-05T16:46:55.404Z,1749142015.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260599
2025-06-05T16:46:55.551Z,1749142015.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:55.555Z,1749142015.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 328.064148 m,
      bearing: 334.339670 deg,
      approach rate: -0.672949 m/s,
      LOS rate: -0.012090 deg/s,
      cmd heading: 334.548430 deg,
      new cmd heading: 334.531163 deg.

2025-06-05T16:46:55.556Z,1749142015.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838670 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:55.656Z,1749142015.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511919
2025-06-05T16:46:55.885Z,1749142015.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:55.888Z,1749142015.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 327.833923 m,
      bearing: 334.335483 deg,
      approach rate: -0.691247 m/s,
      LOS rate: -0.012578 deg/s,
      cmd heading: 334.531164 deg,
      new cmd heading: 334.518596 deg.

2025-06-05T16:46:55.889Z,1749142015.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838451 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:55.909Z,1749142015.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765111
2025-06-05T16:46:56.159Z,1749142016.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015473
2025-06-05T16:46:56.292Z,1749142016.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:56.294Z,1749142016.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:56.299Z,1749142016.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 327.553223 m,
      bearing: 334.330301 deg,
      approach rate: -0.685653 m/s,
      LOS rate: -0.012669 deg/s,
      cmd heading: 334.518596 deg,
      new cmd heading: 334.503036 deg.

2025-06-05T16:46:56.300Z,1749142016.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838179 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:56.411Z,1749142016.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267764
2025-06-05T16:46:56.665Z,1749142016.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521275
2025-06-05T16:46:56.758Z,1749142016.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:56.761Z,1749142016.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 327.248779 m,
      bearing: 334.325615 deg,
      approach rate: -0.661336 m/s,
      LOS rate: -0.010190 deg/s,
      cmd heading: 334.503023 deg,
      new cmd heading: 334.488950 deg.

2025-06-05T16:46:56.767Z,1749142016.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837934 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:56.917Z,1749142016.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773055
2025-06-05T16:46:57.104Z,1749142017.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:57.107Z,1749142017.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 327.004608 m,
      bearing: 334.321883 deg,
      approach rate: -0.698808 m/s,
      LOS rate: -0.010687 deg/s,
      cmd heading: 334.488953 deg,
      new cmd heading: 334.477751 deg.

2025-06-05T16:46:57.108Z,1749142017.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837738 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:57.168Z,1749142017.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023953
2025-06-05T16:46:57.419Z,1749142017.419 [DAT](INFO): DAT read: Rx Time:16:46:56.0617

2025-06-05T16:46:57.420Z,1749142017.420 [DAT](INFO): Rx dataTimestamp_ set to:1749142017.419357
2025-06-05T16:46:57.420Z,1749142017.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276617
2025-06-05T16:46:57.650Z,1749142017.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.54 m.
2025-06-05T16:46:57.652Z,1749142017.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.536377 m,
      nav range: 326.628418 m,
      bearing: 334.317070 deg,
      approach rate: -0.689122 m/s,
      LOS rate: -0.008828 deg/s,
      cmd heading: 334.477751 deg,
      new cmd heading: 334.463294 deg.

2025-06-05T16:46:57.653Z,1749142017.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837486 target range: 356.536377 and range: 359.30 m.
2025-06-05T16:46:57.671Z,1749142017.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527535
2025-06-05T16:46:57.933Z,1749142017.933 [DAT](INFO): DAT read: 16:46:56.0617 LVL= 27632, 25409, 25426, 32755, AGC= 67, IDX= 344,-0.45, 2.605, 1.230, 2.618, 1.924, PHS= 0.769,-0.647, 0.691, RAW= 147.2, -11.8, CAL= 154.3, -20.1, ROT= 355.7,  20.1

2025-06-05T16:46:57.934Z,1749142017.934 [DAT](INFO): got valid direction response:
 16:46:56.0617 LVL= 27632, 25409, 25426, 32755, AGC= 67, IDX= 344,-0.45, 2.605, 1.230, 2.618, 1.924, PHS= 0.769,-0.647, 0.691, RAW= 147.2, -11.8, CAL= 154.3, -20.1, ROT= 355.7,  20.1

2025-06-05T16:46:57.935Z,1749142017.935 [DAT](INFO): DAT read: Bearing 355.7,  20.1 (Local)

2025-06-05T16:46:57.935Z,1749142017.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.7,  20.1 (Local)

2025-06-05T16:46:57.937Z,1749142017.937 [DAT](INFO): DAT read: Range 10 to 50 : 340.6 m  (Round-trip  454.2 ms) speed  0.4 m/s

2025-06-05T16:46:57.937Z,1749142017.937 [DAT](INFO): DAT read: user:2364>

2025-06-05T16:46:57.938Z,1749142017.938 [DAT](INFO): DAT read: Tx time:16:46:57.1533

2025-06-05T16:46:57.939Z,1749142017.939 [DAT](INFO): Ping request sent.
2025-06-05T16:46:57.939Z,1749142017.939 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:46:57.939Z,1749142017.939 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:46:57.940Z,1749142017.940 [DAT](INFO): direction in FSK: [0.936451,-0.070412,-0.343660]
2025-06-05T16:46:57.940Z,1749142017.940 [DAT](INFO): publishing transmit ping time
2025-06-05T16:46:57.940Z,1749142017.940 [DAT](INFO): publishing direction and range info
2025-06-05T16:46:57.943Z,1749142017.944 [DAT](INFO): publishing transmit ping time
2025-06-05T16:46:57.944Z,1749142017.944 [DAT](INFO): publishing direction and range info
2025-06-05T16:46:58.123Z,1749142018.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 340.600006 m,
      deltaT: 14.871492 s,
      deltaX: -18.699982 m,
      approachRate: -1.257438 m/s,
      rangeRepo size: 4

2025-06-05T16:46:58.125Z,1749142018.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 337.979370 m,
      bearing: 332.197123 deg,
      lat: 36.906201 deg,
      lon: -122.116164 deg,
      deltaT: 14.871492 s,
      deltaX: -18.557007 m,
      approachRate: -1.247824 m/s,
      posRepo size: 4

2025-06-05T16:46:58.126Z,1749142018.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.98 m.
2025-06-05T16:46:58.137Z,1749142018.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.979370 m,
      nav range: 328.789856 m,
      bearing: 333.180525 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008828 deg/s,
      cmd heading: 334.463299 deg,
      new cmd heading: 334.451031 deg.

2025-06-05T16:46:58.138Z,1749142018.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837272 target range: 337.979370 and range: 340.60 m.
2025-06-05T16:46:58.175Z,1749142018.175 [DAT](INFO): DAT read: TxSync time:16:46:57.1525

2025-06-05T16:46:58.576Z,1749142018.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:46:58.586Z,1749142018.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.98 m.
2025-06-05T16:46:58.589Z,1749142018.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.979370 m,
      nav range: 328.448486 m,
      bearing: 333.175122 deg,
      approach rate: -0.734015 m/s,
      LOS rate: -0.011629 deg/s,
      cmd heading: 334.451032 deg,
      new cmd heading: 334.434806 deg.

2025-06-05T16:46:58.590Z,1749142018.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836988 target range: 337.979370 and range: 340.60 m.
2025-06-05T16:46:58.680Z,1749142018.680 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:46:58.680Z,1749142018.680 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:46:58.681Z,1749142018.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:46:58.934Z,1749142018.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995317
2025-06-05T16:46:59.069Z,1749142019.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.98 m.
2025-06-05T16:46:59.072Z,1749142019.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.979370 m,
      nav range: 328.118744 m,
      bearing: 333.168930 deg,
      approach rate: -0.670752 m/s,
      LOS rate: -0.012608 deg/s,
      cmd heading: 334.434803 deg,
      new cmd heading: 334.416208 deg.

2025-06-05T16:46:59.073Z,1749142019.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836664 target range: 337.979370 and range: 340.60 m.
2025-06-05T16:46:59.183Z,1749142019.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244424
2025-06-05T16:46:59.436Z,1749142019.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496889
2025-06-05T16:46:59.437Z,1749142019.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.98 m.
2025-06-05T16:46:59.440Z,1749142019.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.979370 m,
      nav range: 327.856873 m,
      bearing: 333.164040 deg,
      approach rate: -0.711965 m/s,
      LOS rate: -0.013306 deg/s,
      cmd heading: 334.416198 deg,
      new cmd heading: 334.401515 deg.

2025-06-05T16:46:59.441Z,1749142019.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836408 target range: 337.979370 and range: 340.60 m.
2025-06-05T16:46:59.688Z,1749142019.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749311
2025-06-05T16:46:59.909Z,1749142019.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.98 m.
2025-06-05T16:46:59.914Z,1749142019.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.979370 m,
      nav range: 327.534637 m,
      bearing: 333.158407 deg,
      approach rate: -0.682777 m/s,
      LOS rate: -0.011946 deg/s,
      cmd heading: 334.401527 deg,
      new cmd heading: 334.384612 deg.

2025-06-05T16:46:59.915Z,1749142019.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836112 target range: 337.979370 and range: 340.60 m.
2025-06-05T16:46:59.939Z,1749142019.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000446
2025-06-05T16:47:00.191Z,1749142020.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252406
2025-06-05T16:47:00.296Z,1749142020.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.98 m.
2025-06-05T16:47:00.311Z,1749142020.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.979370 m,
      nav range: 327.287964 m,
      bearing: 333.154037 deg,
      approach rate: -0.647689 m/s,
      LOS rate: -0.011483 deg/s,
      cmd heading: 334.384615 deg,
      new cmd heading: 334.371495 deg.

2025-06-05T16:47:00.313Z,1749142020.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835884 target range: 337.979370 and range: 340.60 m.
2025-06-05T16:47:00.444Z,1749142020.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505410
2025-06-05T16:47:00.697Z,1749142020.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757701
2025-06-05T16:47:00.702Z,1749142020.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:00.705Z,1749142020.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.98 m.
2025-06-05T16:47:00.712Z,1749142020.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.979370 m,
      nav range: 326.993927 m,
      bearing: 333.147273 deg,
      approach rate: -0.709319 m/s,
      LOS rate: -0.016331 deg/s,
      cmd heading: 334.371501 deg,
      new cmd heading: 334.351191 deg.

2025-06-05T16:47:00.714Z,1749142020.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835529 target range: 337.979370 and range: 340.60 m.
2025-06-05T16:47:00.948Z,1749142020.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009020
2025-06-05T16:47:01.076Z,1749142021.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.98 m.
2025-06-05T16:47:01.080Z,1749142021.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.979370 m,
      nav range: 326.732971 m,
      bearing: 333.141139 deg,
      approach rate: -0.702713 m/s,
      LOS rate: -0.016532 deg/s,
      cmd heading: 334.351202 deg,
      new cmd heading: 334.332784 deg.

2025-06-05T16:47:01.081Z,1749142021.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835208 target range: 337.979370 and range: 340.60 m.
2025-06-05T16:47:01.199Z,1749142021.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260724
2025-06-05T16:47:01.453Z,1749142021.453 [DAT](INFO): DAT read: Rx Time:16:47:00.0213

2025-06-05T16:47:01.454Z,1749142021.454 [DAT](INFO): Rx dataTimestamp_ set to:1749142021.453142
2025-06-05T16:47:01.456Z,1749142021.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516610
2025-06-05T16:47:01.688Z,1749142021.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.98 m.
2025-06-05T16:47:01.690Z,1749142021.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.979370 m,
      nav range: 326.323486 m,
      bearing: 333.130262 deg,
      approach rate: -0.669547 m/s,
      LOS rate: -0.017807 deg/s,
      cmd heading: 334.332787 deg,
      new cmd heading: 334.300117 deg.

2025-06-05T16:47:01.691Z,1749142021.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834638 target range: 337.979370 and range: 340.60 m.
2025-06-05T16:47:01.703Z,1749142021.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764493
2025-06-05T16:47:01.962Z,1749142021.962 [DAT](INFO): DAT read: 16:47:00.0213 LVL= 17328, 26081, 15586, 23779, AGC= 71, IDX=  26,-0.18, 3.016, 1.674, 3.081, 2.312, PHS= 0.792,-0.591, 0.766, RAW= 149.1, -14.0, CAL= 155.8, -21.7, ROT= 354.2,  21.7

2025-06-05T16:47:01.964Z,1749142021.964 [DAT](INFO): got valid direction response:
 16:47:00.0213 LVL= 17328, 26081, 15586, 23779, AGC= 71, IDX=  26,-0.18, 3.016, 1.674, 3.081, 2.312, PHS= 0.792,-0.591, 0.766, RAW= 149.1, -14.0, CAL= 155.8, -21.7, ROT= 354.2,  21.7

2025-06-05T16:47:01.965Z,1749142021.965 [DAT](INFO): DAT read: Bearing 354.2,  21.7 (Local)

2025-06-05T16:47:01.965Z,1749142021.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.2,  21.7 (Local)

2025-06-05T16:47:01.967Z,1749142021.967 [DAT](INFO): DAT read: Range 10 to 50 : 347.9 m  (Round-trip  463.9 ms) speed  0.4 m/s

2025-06-05T16:47:01.968Z,1749142021.968 [DAT](INFO): DAT read: user:2365>

2025-06-05T16:47:01.968Z,1749142021.968 [DAT](INFO): DAT read: Tx time:16:47:01.1033

2025-06-05T16:47:01.969Z,1749142021.969 [DAT](INFO): Ping request sent.
2025-06-05T16:47:01.969Z,1749142021.969 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:01.969Z,1749142021.969 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:47:01.982Z,1749142021.982 [DAT](INFO): direction in FSK: [0.924376,-0.093895,-0.369747]
2025-06-05T16:47:01.983Z,1749142021.983 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:01.983Z,1749142021.983 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:01.986Z,1749142021.986 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:01.986Z,1749142021.986 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:02.207Z,1749142022.207 [DAT](INFO): DAT read: TxSync time:16:47:01.1025

2025-06-05T16:47:02.306Z,1749142022.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 347.899994 m,
      deltaT: 4.032791 s,
      deltaX: 7.299988 m,
      approachRate: 1.810158 m/s,
      rangeRepo size: 4

2025-06-05T16:47:02.308Z,1749142022.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 345.223419 m,
      bearing: 330.882569 deg,
      lat: 36.906201 deg,
      lon: -122.116164 deg,
      deltaT: 4.032791 s,
      deltaX: 7.244049 m,
      approachRate: 1.796287 m/s,
      posRepo size: 4

2025-06-05T16:47:02.309Z,1749142022.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:02.329Z,1749142022.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 325.911713 m,
      bearing: 333.119402 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017807 deg/s,
      cmd heading: 334.300112 deg,
      new cmd heading: 334.267132 deg.

2025-06-05T16:47:02.335Z,1749142022.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834062 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:02.800Z,1749142022.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:02.803Z,1749142022.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:02.805Z,1749142022.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 325.578430 m,
      bearing: 333.109841 deg,
      approach rate: -0.670042 m/s,
      LOS rate: -0.019241 deg/s,
      cmd heading: 334.267136 deg,
      new cmd heading: 334.238424 deg.

2025-06-05T16:47:02.806Z,1749142022.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833561 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:02.964Z,1749142022.964 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:02.964Z,1749142022.964 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:02.964Z,1749142022.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:03.125Z,1749142023.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:03.130Z,1749142023.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 325.362488 m,
      bearing: 333.103695 deg,
      approach rate: -0.668565 m/s,
      LOS rate: -0.019042 deg/s,
      cmd heading: 334.238422 deg,
      new cmd heading: 334.219970 deg.

2025-06-05T16:47:03.131Z,1749142023.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833239 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:03.216Z,1749142023.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246878
2025-06-05T16:47:03.467Z,1749142023.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498475
2025-06-05T16:47:03.615Z,1749142023.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:03.617Z,1749142023.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 325.082672 m,
      bearing: 333.095650 deg,
      approach rate: -0.571580 m/s,
      LOS rate: -0.016447 deg/s,
      cmd heading: 334.219980 deg,
      new cmd heading: 334.195826 deg.

2025-06-05T16:47:03.623Z,1749142023.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832818 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:03.720Z,1749142023.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751027
2025-06-05T16:47:03.971Z,1749142023.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002455
2025-06-05T16:47:03.999Z,1749142023.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:04.002Z,1749142024.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 324.784515 m,
      bearing: 333.086610 deg,
      approach rate: -0.775836 m/s,
      LOS rate: -0.023544 deg/s,
      cmd heading: 334.195829 deg,
      new cmd heading: 334.168684 deg.

2025-06-05T16:47:04.003Z,1749142024.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832344 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:04.223Z,1749142024.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254400
2025-06-05T16:47:04.365Z,1749142024.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:04.369Z,1749142024.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 324.541992 m,
      bearing: 333.079094 deg,
      approach rate: -0.662181 m/s,
      LOS rate: -0.020538 deg/s,
      cmd heading: 334.168672 deg,
      new cmd heading: 334.146105 deg.

2025-06-05T16:47:04.370Z,1749142024.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.831950 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:04.476Z,1749142024.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507241
2025-06-05T16:47:04.727Z,1749142024.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758745
2025-06-05T16:47:04.840Z,1749142024.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:04.842Z,1749142024.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:04.853Z,1749142024.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 324.238251 m,
      bearing: 333.069672 deg,
      approach rate: -0.637678 m/s,
      LOS rate: -0.019798 deg/s,
      cmd heading: 334.146105 deg,
      new cmd heading: 334.117814 deg.

2025-06-05T16:47:04.859Z,1749142024.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.831456 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:04.980Z,1749142024.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011327
2025-06-05T16:47:05.187Z,1749142025.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:05.190Z,1749142025.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 324.010284 m,
      bearing: 333.062609 deg,
      approach rate: -0.660276 m/s,
      LOS rate: -0.020472 deg/s,
      cmd heading: 334.117800 deg,
      new cmd heading: 334.096596 deg.

2025-06-05T16:47:05.191Z,1749142025.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.831086 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:05.231Z,1749142025.231 [DAT](INFO): DAT read: Rx Time:16:47:03.9423

2025-06-05T16:47:05.232Z,1749142025.232 [DAT](INFO): Rx dataTimestamp_ set to:1749142025.231541
2025-06-05T16:47:05.232Z,1749142025.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263682
2025-06-05T16:47:05.483Z,1749142025.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514409
2025-06-05T16:47:05.663Z,1749142025.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:05.665Z,1749142025.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 323.711182 m,
      bearing: 333.053400 deg,
      approach rate: -0.635173 m/s,
      LOS rate: -0.019573 deg/s,
      cmd heading: 334.096600 deg,
      new cmd heading: 334.068948 deg.

2025-06-05T16:47:05.670Z,1749142025.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.830603 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:05.738Z,1749142025.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768574
2025-06-05T16:47:05.993Z,1749142025.993 [DAT](INFO): DAT read: 16:47:03.9423 LVL= 25632, 25329, 23666, 32755, AGC= 70, IDX= 275, 0.03, 0.536,-0.697, 0.500,-0.153, PHS= 0.776,-0.497, 0.649, RAW= 144.8, -15.1, CAL= 151.2, -23.3, ROT= 358.8,  23.3

2025-06-05T16:47:05.994Z,1749142025.994 [DAT](INFO): got valid direction response:
 16:47:03.9423 LVL= 25632, 25329, 23666, 32755, AGC= 70, IDX= 275, 0.03, 0.536,-0.697, 0.500,-0.153, PHS= 0.776,-0.497, 0.649, RAW= 144.8, -15.1, CAL= 151.2, -23.3, ROT= 358.8,  23.3

2025-06-05T16:47:05.996Z,1749142025.996 [DAT](INFO): DAT read: Bearing 358.8,  23.3 (Local)

2025-06-05T16:47:05.997Z,1749142025.997 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,  23.3 (Local)

2025-06-05T16:47:05.999Z,1749142025.999 [DAT](INFO): DAT read: Range 10 to 50 : 326.1 m  (Round-trip  434.8 ms) speed  0.4 m/s

2025-06-05T16:47:05.000Z,1749142026.000 [DAT](INFO): DAT read: user:2366>

2025-06-05T16:47:06.000Z,1749142026.000 [DAT](INFO): DAT read: Tx time:16:47:05.0549

2025-06-05T16:47:06.001Z,1749142026.001 [DAT](INFO): Ping request sent.
2025-06-05T16:47:06.001Z,1749142026.001 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:06.001Z,1749142026.001 [DAT](INFO): DAT read: TxSync time:16:47:05.0541

2025-06-05T16:47:06.002Z,1749142026.002 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:47:06.003Z,1749142026.003 [DAT](INFO): direction in FSK: [0.918245,-0.019234,-0.395545]
2025-06-05T16:47:06.003Z,1749142026.003 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:06.004Z,1749142026.004 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:06.007Z,1749142026.007 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:06.007Z,1749142026.007 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:06.385Z,1749142026.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 326.100006 m,
 deltaT: 4.031279 s,
 deltaX: -21.799988 m,
 approachRate: -5.407710 m/s,
 rangeRepo size: 4
2025-06-05T16:47:06.385Z,1749142026.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:06.393Z,1749142026.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 323.268372 m,
      bearing: 333.040838 deg,
      approach rate: -0.609893 m/s,
      LOS rate: -0.017327 deg/s,
      cmd heading: 334.068951 deg,
      new cmd heading: 334.031211 deg.

2025-06-05T16:47:06.394Z,1749142026.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829945 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:06.892Z,1749142026.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:06.894Z,1749142026.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:06.898Z,1749142026.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 322.914825 m,
      bearing: 333.032406 deg,
      approach rate: -0.693370 m/s,
      LOS rate: -0.016554 deg/s,
      cmd heading: 334.031221 deg,
      new cmd heading: 334.005899 deg.

2025-06-05T16:47:06.899Z,1749142026.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829503 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:06.996Z,1749142026.996 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:06.997Z,1749142026.997 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:06.997Z,1749142026.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:07.247Z,1749142027.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246513
2025-06-05T16:47:07.329Z,1749142027.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:07.337Z,1749142027.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 322.649750 m,
      bearing: 333.026463 deg,
      approach rate: -0.610293 m/s,
      LOS rate: -0.013694 deg/s,
      cmd heading: 334.005895 deg,
      new cmd heading: 333.988051 deg.

2025-06-05T16:47:07.338Z,1749142027.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829191 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:07.499Z,1749142027.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498173
2025-06-05T16:47:07.704Z,1749142027.704 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250605085.0, +10.6,   0.0,1492.2,  0
2025-06-05T16:47:07.721Z,1749142027.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:07.724Z,1749142027.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 322.379700 m,
      bearing: 333.020478 deg,
      approach rate: -0.687171 m/s,
      LOS rate: -0.015242 deg/s,
      cmd heading: 333.988054 deg,
      new cmd heading: 333.970084 deg.

2025-06-05T16:47:07.725Z,1749142027.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828877 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:07.751Z,1749142027.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750454
2025-06-05T16:47:08.003Z,1749142028.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002297
2025-06-05T16:47:08.132Z,1749142028.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:08.135Z,1749142028.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 322.114288 m,
      bearing: 333.014662 deg,
      approach rate: -0.646608 m/s,
      LOS rate: -0.014181 deg/s,
      cmd heading: 333.970077 deg,
      new cmd heading: 333.952615 deg.

2025-06-05T16:47:08.136Z,1749142028.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828573 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:08.255Z,1749142028.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254438
2025-06-05T16:47:08.507Z,1749142028.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506179
2025-06-05T16:47:08.542Z,1749142028.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:08.547Z,1749142028.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 321.860382 m,
      bearing: 333.009193 deg,
      approach rate: -0.644453 m/s,
      LOS rate: -0.013893 deg/s,
      cmd heading: 333.952619 deg,
      new cmd heading: 333.936198 deg.

2025-06-05T16:47:08.549Z,1749142028.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828286 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:08.760Z,1749142028.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758618
2025-06-05T16:47:08.957Z,1749142028.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:08.960Z,1749142028.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:08.964Z,1749142028.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 321.572937 m,
      bearing: 333.005107 deg,
      approach rate: -0.662310 m/s,
      LOS rate: -0.009422 deg/s,
      cmd heading: 333.936199 deg,
      new cmd heading: 333.923931 deg.

2025-06-05T16:47:08.965Z,1749142028.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828072 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:09.011Z,1749142029.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010330
2025-06-05T16:47:09.264Z,1749142029.264 [DAT](INFO): DAT read: Rx Time:16:47:07.9162

2025-06-05T16:47:09.265Z,1749142029.265 [DAT](INFO): Rx dataTimestamp_ set to:1749142029.264263
2025-06-05T16:47:09.265Z,1749142029.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264232
2025-06-05T16:47:09.384Z,1749142029.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.22 m.
2025-06-05T16:47:09.387Z,1749142029.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.223419 m,
      nav range: 321.298615 m,
      bearing: 333.001426 deg,
      approach rate: -0.647010 m/s,
      LOS rate: -0.008690 deg/s,
      cmd heading: 333.923932 deg,
      new cmd heading: 333.912879 deg.

2025-06-05T16:47:09.388Z,1749142029.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827879 target range: 345.223419 and range: 347.90 m.
2025-06-05T16:47:09.515Z,1749142029.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514455
2025-06-05T16:47:09.778Z,1749142029.778 [DAT](INFO): DAT read: 16:47:07.9162 LVL= 18768, 21329, 18658, 26307, AGC= 71, IDX= 164, 0.45, 1.540, 0.040, 1.502, 0.769, PHS= 0.859,-0.682, 0.731, RAW= 145.7, -12.2, CAL= 152.7, -20.8, ROT= 357.3,  20.8

2025-06-05T16:47:09.780Z,1749142029.780 [DAT](INFO): got valid direction response:
 16:47:07.9162 LVL= 18768, 21329, 18658, 26307, AGC= 71, IDX= 164, 0.45, 1.540, 0.040, 1.502, 0.769, PHS= 0.859,-0.682, 0.731, RAW= 145.7, -12.2, CAL= 152.7, -20.8, ROT= 357.3,  20.8

2025-06-05T16:47:09.782Z,1749142029.782 [DAT](INFO): DAT read: Bearing 357.3,  20.8 (Local)

2025-06-05T16:47:09.790Z,1749142029.790 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  20.8 (Local)

2025-06-05T16:47:09.792Z,1749142029.792 [DAT](INFO): DAT read: Range 10 to 50 : 342.8 m  (Round-trip  457.1 ms) speed  0.7 m/s

2025-06-05T16:47:09.793Z,1749142029.793 [DAT](INFO): DAT read: user:2367>

2025-06-05T16:47:09.793Z,1749142029.793 [DAT](INFO): DAT read: Tx time:16:47:09.0034

2025-06-05T16:47:09.794Z,1749142029.794 [DAT](INFO): Ping request sent.
2025-06-05T16:47:09.794Z,1749142029.794 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:09.802Z,1749142029.802 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:47:09.803Z,1749142029.803 [DAT](INFO): direction in FSK: [0.933788,-0.044037,-0.355107]
2025-06-05T16:47:09.803Z,1749142029.803 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:09.804Z,1749142029.804 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:09.832Z,1749142029.832 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:09.832Z,1749142029.832 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:09.989Z,1749142029.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 342.799988 m,
      deltaT: 7.812056 s,
      deltaX: -5.100006 m,
      approachRate: -0.652838 m/s,
      rangeRepo size: 4

2025-06-05T16:47:09.999Z,1749142029.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 340.161530 m,
      bearing: 332.305865 deg,
      lat: 36.906117 deg,
      lon: -122.116198 deg,
      deltaT: 7.812056 s,
      deltaX: -5.061890 m,
      approachRate: -0.647959 m/s,
      posRepo size: 4

2025-06-05T16:47:09.000Z,1749142030.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.16 m.
2025-06-05T16:47:10.011Z,1749142030.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.161530 m,
      nav range: 313.995850 m,
      bearing: 331.730977 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008690 deg/s,
      cmd heading: 333.912867 deg,
      new cmd heading: 333.897106 deg.

2025-06-05T16:47:10.013Z,1749142030.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827604 target range: 340.161530 and range: 342.80 m.
2025-06-05T16:47:10.019Z,1749142030.019 [DAT](INFO): DAT read: TxSync time:16:47:09.0026

2025-06-05T16:47:10.388Z,1749142030.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.16 m.
2025-06-05T16:47:10.399Z,1749142030.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.161530 m,
      nav range: 313.718811 m,
      bearing: 331.727159 deg,
      approach rate: -0.692846 m/s,
      LOS rate: -0.009556 deg/s,
      cmd heading: 333.897103 deg,
      new cmd heading: 333.885640 deg.

2025-06-05T16:47:10.400Z,1749142030.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827404 target range: 340.161530 and range: 342.80 m.
2025-06-05T16:47:10.800Z,1749142030.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.16 m.
2025-06-05T16:47:10.802Z,1749142030.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.161530 m,
      nav range: 313.426544 m,
      bearing: 331.723388 deg,
      approach rate: -0.710296 m/s,
      LOS rate: -0.009172 deg/s,
      cmd heading: 333.885629 deg,
      new cmd heading: 333.874306 deg.

2025-06-05T16:47:10.803Z,1749142030.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827206 target range: 340.161530 and range: 342.80 m.
2025-06-05T16:47:11.127Z,1749142031.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:11.130Z,1749142031.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.16 m.
2025-06-05T16:47:11.133Z,1749142031.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.161530 m,
      nav range: 313.203705 m,
      bearing: 331.720463 deg,
      approach rate: -0.676889 m/s,
      LOS rate: -0.008891 deg/s,
      cmd heading: 333.874318 deg,
      new cmd heading: 333.865537 deg.

2025-06-05T16:47:11.151Z,1749142031.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827053 target range: 340.161530 and range: 342.80 m.
2025-06-05T16:47:11.281Z,1749142031.281 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:11.281Z,1749142031.281 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:11.281Z,1749142031.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:11.533Z,1749142031.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738946
2025-06-05T16:47:11.556Z,1749142031.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.16 m.
2025-06-05T16:47:11.584Z,1749142031.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.161530 m,
      nav range: 312.923401 m,
      bearing: 331.716736 deg,
      approach rate: -0.656753 m/s,
      LOS rate: -0.008740 deg/s,
      cmd heading: 333.865548 deg,
      new cmd heading: 333.854357 deg.

2025-06-05T16:47:11.585Z,1749142031.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826858 target range: 340.161530 and range: 342.80 m.
2025-06-05T16:47:11.784Z,1749142031.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990004
2025-06-05T16:47:12.016Z,1749142032.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.16 m.
2025-06-05T16:47:12.023Z,1749142032.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.161530 m,
      nav range: 312.620209 m,
      bearing: 331.711125 deg,
      approach rate: -0.659035 m/s,
      LOS rate: -0.012209 deg/s,
      cmd heading: 333.854346 deg,
      new cmd heading: 333.837496 deg.

2025-06-05T16:47:12.024Z,1749142032.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826563 target range: 340.161530 and range: 342.80 m.
2025-06-05T16:47:12.035Z,1749142032.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241473
2025-06-05T16:47:12.287Z,1749142032.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493720
2025-06-05T16:47:12.384Z,1749142032.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.16 m.
2025-06-05T16:47:12.391Z,1749142032.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.161530 m,
      nav range: 312.368408 m,
      bearing: 331.706385 deg,
      approach rate: -0.683045 m/s,
      LOS rate: -0.012869 deg/s,
      cmd heading: 333.837489 deg,
      new cmd heading: 333.823257 deg.

2025-06-05T16:47:12.392Z,1749142032.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826315 target range: 340.161530 and range: 342.80 m.
2025-06-05T16:47:12.541Z,1749142032.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747282
2025-06-05T16:47:12.791Z,1749142032.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997403
2025-06-05T16:47:12.851Z,1749142032.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.16 m.
2025-06-05T16:47:12.853Z,1749142032.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.161530 m,
      nav range: 312.044678 m,
      bearing: 331.699399 deg,
      approach rate: -0.693864 m/s,
      LOS rate: -0.014988 deg/s,
      cmd heading: 333.823255 deg,
      new cmd heading: 333.802276 deg.

2025-06-05T16:47:12.855Z,1749142032.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825949 target range: 340.161530 and range: 342.80 m.
2025-06-05T16:47:13.043Z,1749142033.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249774
2025-06-05T16:47:13.176Z,1749142033.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:13.179Z,1749142033.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.16 m.
2025-06-05T16:47:13.183Z,1749142033.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.161530 m,
      nav range: 311.825043 m,
      bearing: 331.694696 deg,
      approach rate: -0.671242 m/s,
      LOS rate: -0.014384 deg/s,
      cmd heading: 333.802273 deg,
      new cmd heading: 333.788153 deg.

2025-06-05T16:47:13.184Z,1749142033.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825702 target range: 340.161530 and range: 342.80 m.
2025-06-05T16:47:13.297Z,1749142033.297 [DAT](INFO): DAT read: Rx Time:16:47:11.8606

2025-06-05T16:47:13.298Z,1749142033.298 [DAT](INFO): Rx dataTimestamp_ set to:1749142033.297416
2025-06-05T16:47:13.298Z,1749142033.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504699
2025-06-05T16:47:13.547Z,1749142033.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753692
2025-06-05T16:47:13.597Z,1749142033.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.16 m.
2025-06-05T16:47:13.600Z,1749142033.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.161530 m,
      nav range: 311.545563 m,
      bearing: 331.688814 deg,
      approach rate: -0.666616 m/s,
      LOS rate: -0.014042 deg/s,
      cmd heading: 333.788148 deg,
      new cmd heading: 333.770487 deg.

2025-06-05T16:47:13.601Z,1749142033.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825394 target range: 340.161530 and range: 342.80 m.
2025-06-05T16:47:13.813Z,1749142033.813 [DAT](INFO): DAT read: 16:47:11.8606 LVL= 23248, 25953, 24034, 32755, AGC= 69, IDX= 395,-0.41,-2.047, 2.928,-2.117,-2.747, PHS= 0.788,-0.561, 0.628, RAW= 143.7, -13.3, CAL= 150.5, -22.0, ROT= 359.5,  22.0

2025-06-05T16:47:13.821Z,1749142033.821 [DAT](INFO): got valid direction response:
 16:47:11.8606 LVL= 23248, 25953, 24034, 32755, AGC= 69, IDX= 395,-0.41,-2.047, 2.928,-2.117,-2.747, PHS= 0.788,-0.561, 0.628, RAW= 143.7, -13.3, CAL= 150.5, -22.0, ROT= 359.5,  22.0

2025-06-05T16:47:13.823Z,1749142033.823 [DAT](INFO): DAT read: Bearing 359.5,  22.0 (Local)

2025-06-05T16:47:13.824Z,1749142033.824 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5,  22.0 (Local)

2025-06-05T16:47:13.827Z,1749142033.827 [DAT](INFO): DAT read: Range 10 to 50 : 339.8 m  (Round-trip  453.1 ms) speed  0.4 m/s

2025-06-05T16:47:13.829Z,1749142033.829 [DAT](INFO): DAT read: user:2368>

2025-06-05T16:47:13.836Z,1749142033.836 [DAT](INFO): DAT read: Tx time:16:47:12.9534

2025-06-05T16:47:13.836Z,1749142033.836 [DAT](INFO): Ping request sent.
2025-06-05T16:47:13.837Z,1749142033.837 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:13.837Z,1749142033.837 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:47:13.853Z,1749142033.853 [DAT](INFO): direction in FSK: [0.927149,-0.008091,-0.374607]
2025-06-05T16:47:13.854Z,1749142033.854 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:13.864Z,1749142033.864 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:13.876Z,1749142033.876 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:13.877Z,1749142033.877 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:14.052Z,1749142034.052 [DAT](INFO): DAT read: TxSync time:16:47:12.9526

2025-06-05T16:47:14.259Z,1749142034.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 339.799988 m,
      deltaT: 4.031286 s,
      deltaX: -3.000000 m,
      approachRate: -0.744179 m/s,
      rangeRepo size: 4

2025-06-05T16:47:14.261Z,1749142034.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 337.184998 m,
      bearing: 334.765480 deg,
      lat: 36.906117 deg,
      lon: -122.116164 deg,
      deltaT: 4.031286 s,
      deltaX: -2.976532 m,
      approachRate: -0.738358 m/s,
      posRepo size: 4

2025-06-05T16:47:14.271Z,1749142034.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:14.273Z,1749142034.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 309.706573 m,
      bearing: 332.166730 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014042 deg/s,
      cmd heading: 333.770499 deg,
      new cmd heading: 333.742842 deg.

2025-06-05T16:47:14.279Z,1749142034.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824912 target range: 337.184998 and range: 339.80 m.
2025-06-05T16:47:14.431Z,1749142034.431 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:47:14.607Z,1749142034.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:14.610Z,1749142034.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 309.458435 m,
      bearing: 332.160356 deg,
      approach rate: -0.702482 m/s,
      LOS rate: -0.018059 deg/s,
      cmd heading: 333.742850 deg,
      new cmd heading: 333.723714 deg.

2025-06-05T16:47:14.611Z,1749142034.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824578 target range: 337.184998 and range: 339.80 m.
2025-06-05T16:47:15.097Z,1749142035.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:15.101Z,1749142035.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 309.129333 m,
      bearing: 332.151381 deg,
      approach rate: -0.672237 m/s,
      LOS rate: -0.018354 deg/s,
      cmd heading: 333.723726 deg,
      new cmd heading: 333.696769 deg.

2025-06-05T16:47:15.101Z,1749142035.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824107 target range: 337.184998 and range: 339.80 m.
2025-06-05T16:47:15.433Z,1749142035.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:15.435Z,1749142035.435 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:47:15.439Z,1749142035.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:15.447Z,1749142035.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 308.908783 m,
      bearing: 332.145417 deg,
      approach rate: -0.643205 m/s,
      LOS rate: -0.017405 deg/s,
      cmd heading: 333.696760 deg,
      new cmd heading: 333.678856 deg.

2025-06-05T16:47:15.448Z,1749142035.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823795 target range: 337.184998 and range: 339.80 m.
2025-06-05T16:47:15.565Z,1749142035.565 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:15.565Z,1749142035.565 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:15.565Z,1749142035.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:15.817Z,1749142035.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980104
2025-06-05T16:47:15.910Z,1749142035.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:15.915Z,1749142035.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 308.588074 m,
      bearing: 332.136100 deg,
      approach rate: -0.681283 m/s,
      LOS rate: -0.019812 deg/s,
      cmd heading: 333.678865 deg,
      new cmd heading: 333.650886 deg.

2025-06-05T16:47:15.916Z,1749142035.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823307 target range: 337.184998 and range: 339.80 m.
2025-06-05T16:47:16.068Z,1749142036.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231521
2025-06-05T16:47:16.264Z,1749142036.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:16.267Z,1749142036.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 308.354340 m,
      bearing: 332.129314 deg,
      approach rate: -0.660777 m/s,
      LOS rate: -0.019200 deg/s,
      cmd heading: 333.650889 deg,
      new cmd heading: 333.630514 deg.

2025-06-05T16:47:16.268Z,1749142036.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822951 target range: 337.184998 and range: 339.80 m.
2025-06-05T16:47:16.321Z,1749142036.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484041
2025-06-05T16:47:16.571Z,1749142036.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734793
2025-06-05T16:47:16.644Z,1749142036.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:16.659Z,1749142036.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 308.103607 m,
      bearing: 332.122061 deg,
      approach rate: -0.659562 m/s,
      LOS rate: -0.019093 deg/s,
      cmd heading: 333.630507 deg,
      new cmd heading: 333.608733 deg.

2025-06-05T16:47:16.660Z,1749142036.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822571 target range: 337.184998 and range: 339.80 m.
2025-06-05T16:47:16.826Z,1749142036.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989167
2025-06-05T16:47:17.075Z,1749142037.075 [DAT](INFO): DAT read: Rx Time:16:47:15.8078

2025-06-05T16:47:17.076Z,1749142037.076 [DAT](INFO): Rx dataTimestamp_ set to:1749142037.075430
2025-06-05T16:47:17.076Z,1749142037.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239992
2025-06-05T16:47:17.083Z,1749142037.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:17.085Z,1749142037.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 307.814178 m,
      bearing: 332.114197 deg,
      approach rate: -0.659746 m/s,
      LOS rate: -0.017943 deg/s,
      cmd heading: 333.608733 deg,
      new cmd heading: 333.585118 deg.

2025-06-05T16:47:17.111Z,1749142037.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822159 target range: 337.184998 and range: 339.80 m.
2025-06-05T16:47:17.327Z,1749142037.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490833
2025-06-05T16:47:17.468Z,1749142037.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:17.470Z,1749142037.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:17.473Z,1749142037.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 307.570526 m,
      bearing: 332.107530 deg,
      approach rate: -0.629692 m/s,
      LOS rate: -0.017244 deg/s,
      cmd heading: 333.585128 deg,
      new cmd heading: 333.565110 deg.

2025-06-05T16:47:17.475Z,1749142037.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821809 target range: 337.184998 and range: 339.80 m.
2025-06-05T16:47:17.584Z,1749142037.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746980
2025-06-05T16:47:17.839Z,1749142037.839 [DAT](INFO): DAT read: Range 10 to 50 : 337.6 m  (Round-trip  450.2 ms) speed  0.6 m/s

2025-06-05T16:47:17.841Z,1749142037.841 [DAT](INFO): DAT read: user:2369>

2025-06-05T16:47:17.843Z,1749142037.843 [DAT](INFO): DAT read: Tx time:16:47:16.9034

2025-06-05T16:47:17.844Z,1749142037.844 [DAT](INFO): Ping request sent.
2025-06-05T16:47:17.845Z,1749142037.845 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:17.846Z,1749142037.846 [DAT](INFO): DAT read: TxSync time:16:47:16.9026

2025-06-05T16:47:17.847Z,1749142037.847 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:47:17.848Z,1749142037.848 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:17.849Z,1749142037.849 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:18.025Z,1749142038.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 337.600006 m,
      deltaT: 4.036991 s,
      deltaX: -2.199982 m,
      approachRate: -0.544956 m/s,
      rangeRepo size: 4

2025-06-05T16:47:18.034Z,1749142038.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:18.037Z,1749142038.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 307.195038 m,
      bearing: 332.097843 deg,
      approach rate: -0.676490 m/s,
      LOS rate: -0.017473 deg/s,
      cmd heading: 333.565102 deg,
      new cmd heading: 333.536005 deg.

2025-06-05T16:47:18.064Z,1749142038.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821301 target range: 337.184998 and range: 337.60 m.
2025-06-05T16:47:18.392Z,1749142038.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:18.397Z,1749142038.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 306.944305 m,
      bearing: 332.091361 deg,
      approach rate: -0.683466 m/s,
      LOS rate: -0.017683 deg/s,
      cmd heading: 333.536005 deg,
      new cmd heading: 333.516544 deg.

2025-06-05T16:47:18.398Z,1749142038.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820962 target range: 337.184998 and range: 337.60 m.
2025-06-05T16:47:18.887Z,1749142038.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:18.889Z,1749142038.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 306.615021 m,
      bearing: 332.083172 deg,
      approach rate: -0.665544 m/s,
      LOS rate: -0.016569 deg/s,
      cmd heading: 333.516553 deg,
      new cmd heading: 333.491960 deg.

2025-06-05T16:47:18.891Z,1749142038.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820533 target range: 337.184998 and range: 337.60 m.
2025-06-05T16:47:19.186Z,1749142039.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:19.189Z,1749142039.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 306.415405 m,
      bearing: 332.078186 deg,
      approach rate: -0.666823 m/s,
      LOS rate: -0.016669 deg/s,
      cmd heading: 333.491964 deg,
      new cmd heading: 333.476994 deg.

2025-06-05T16:47:19.190Z,1749142039.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820271 target range: 337.184998 and range: 337.60 m.
2025-06-05T16:47:19.629Z,1749142039.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:19.643Z,1749142039.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:19.651Z,1749142039.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 306.130035 m,
      bearing: 332.071046 deg,
      approach rate: -0.624046 m/s,
      LOS rate: -0.015628 deg/s,
      cmd heading: 333.476992 deg,
      new cmd heading: 333.455553 deg.

2025-06-05T16:47:19.652Z,1749142039.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819897 target range: 337.184998 and range: 337.60 m.
2025-06-05T16:47:19.851Z,1749142039.851 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:19.851Z,1749142039.851 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:19.851Z,1749142039.851 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:20.103Z,1749142040.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259053
2025-06-05T16:47:20.157Z,1749142040.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:20.176Z,1749142040.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 305.769836 m,
      bearing: 332.062446 deg,
      approach rate: -0.700467 m/s,
      LOS rate: -0.016744 deg/s,
      cmd heading: 333.455545 deg,
      new cmd heading: 333.429714 deg.

2025-06-05T16:47:20.177Z,1749142040.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819447 target range: 337.184998 and range: 337.60 m.
2025-06-05T16:47:20.355Z,1749142040.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510793
2025-06-05T16:47:20.525Z,1749142040.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:20.531Z,1749142040.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 305.531036 m,
      bearing: 332.056725 deg,
      approach rate: -0.649961 m/s,
      LOS rate: -0.015583 deg/s,
      cmd heading: 333.429727 deg,
      new cmd heading: 333.412551 deg.

2025-06-05T16:47:20.533Z,1749142040.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819147 target range: 337.184998 and range: 337.60 m.
2025-06-05T16:47:20.607Z,1749142040.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762938
2025-06-05T16:47:20.860Z,1749142040.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015406
2025-06-05T16:47:21.047Z,1749142041.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:21.049Z,1749142041.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 305.178375 m,
      bearing: 332.049374 deg,
      approach rate: -0.676915 m/s,
      LOS rate: -0.014126 deg/s,
      cmd heading: 333.412542 deg,
      new cmd heading: 333.390464 deg.

2025-06-05T16:47:21.051Z,1749142041.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818761 target range: 337.184998 and range: 337.60 m.
2025-06-05T16:47:21.112Z,1749142041.112 [DAT](INFO): DAT read: Rx Time:16:47:19.7547

2025-06-05T16:47:21.112Z,1749142041.112 [DAT](INFO): Rx dataTimestamp_ set to:1749142041.111712
2025-06-05T16:47:21.113Z,1749142041.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269024
2025-06-05T16:47:21.364Z,1749142041.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520204
2025-06-05T16:47:21.425Z,1749142041.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.18 m.
2025-06-05T16:47:21.428Z,1749142041.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.184998 m,
      nav range: 304.924744 m,
      bearing: 332.044018 deg,
      approach rate: -0.669075 m/s,
      LOS rate: -0.014139 deg/s,
      cmd heading: 333.390467 deg,
      new cmd heading: 333.374388 deg.

2025-06-05T16:47:21.432Z,1749142041.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818480 target range: 337.184998 and range: 337.60 m.
2025-06-05T16:47:21.621Z,1749142041.621 [DAT](INFO): DAT read: 16:47:19.7547 LVL= 26928, 31969, 24754, 32755, AGC= 66, IDX= 414, 0.34,-1.901, 2.991,-1.966,-2.649, PHS= 0.836,-0.597, 0.679, RAW= 144.3, -13.4, CAL= 151.0, -22.0, ROT= 359.0,  22.0

2025-06-05T16:47:21.623Z,1749142041.623 [DAT](INFO): got valid direction response:
 16:47:19.7547 LVL= 26928, 31969, 24754, 32755, AGC= 66, IDX= 414, 0.34,-1.901, 2.991,-1.966,-2.649, PHS= 0.836,-0.597, 0.679, RAW= 144.3, -13.4, CAL= 151.0, -22.0, ROT= 359.0,  22.0

2025-06-05T16:47:21.624Z,1749142041.624 [DAT](INFO): DAT read: Bearing 359.0,  22.0 (Local)

2025-06-05T16:47:21.624Z,1749142041.624 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.0,  22.0 (Local)

2025-06-05T16:47:21.625Z,1749142041.625 [DAT](INFO): DAT read: Range 10 to 50 : 335.3 m  (Round-trip  447.1 ms) speed  0.7 m/s

2025-06-05T16:47:21.626Z,1749142041.626 [DAT](INFO): DAT read: user:2370>

2025-06-05T16:47:21.627Z,1749142041.627 [DAT](INFO): DAT read: Tx time:16:47:20.8535

2025-06-05T16:47:21.627Z,1749142041.627 [DAT](INFO): Ping request sent.
2025-06-05T16:47:21.627Z,1749142041.627 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:21.628Z,1749142041.628 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:47:21.631Z,1749142041.631 [DAT](INFO): direction in FSK: [0.927043,-0.016182,-0.374607]
2025-06-05T16:47:21.631Z,1749142041.631 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:21.631Z,1749142041.631 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:21.639Z,1749142041.639 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:21.639Z,1749142041.639 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:21.870Z,1749142041.870 [DAT](INFO): DAT read: TxSync time:16:47:20.8527

2025-06-05T16:47:22.035Z,1749142042.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 335.299988 m,
      deltaT: 3.779630 s,
      deltaX: -2.300018 m,
      approachRate: -0.608530 m/s,
      rangeRepo size: 4

2025-06-05T16:47:22.037Z,1749142042.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 332.718506 m,
      bearing: 333.794301 deg,
      lat: 36.906199 deg,
      lon: -122.116143 deg,
      deltaT: 7.816621 s,
      deltaX: -4.466492 m,
      approachRate: -0.571410 m/s,
      posRepo size: 4

2025-06-05T16:47:22.037Z,1749142042.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.72 m.
2025-06-05T16:47:22.044Z,1749142042.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.718506 m,
      nav range: 311.724091 m,
      bearing: 333.129785 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014139 deg/s,
      cmd heading: 333.374375 deg,
      new cmd heading: 333.348780 deg.

2025-06-05T16:47:22.050Z,1749142042.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818034 target range: 332.718506 and range: 335.30 m.
2025-06-05T16:47:22.406Z,1749142042.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:22.408Z,1749142042.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.72 m.
2025-06-05T16:47:22.411Z,1749142042.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.718506 m,
      nav range: 311.450989 m,
      bearing: 333.125902 deg,
      approach rate: -0.718536 m/s,
      LOS rate: -0.010223 deg/s,
      cmd heading: 333.348776 deg,
      new cmd heading: 333.337119 deg.

2025-06-05T16:47:22.414Z,1749142042.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817830 target range: 332.718506 and range: 335.30 m.
2025-06-05T16:47:22.623Z,1749142042.623 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:22.623Z,1749142042.623 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:22.623Z,1749142042.623 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:22.759Z,1749142042.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.72 m.
2025-06-05T16:47:22.762Z,1749142042.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.718506 m,
      nav range: 311.203094 m,
      bearing: 333.122472 deg,
      approach rate: -0.706032 m/s,
      LOS rate: -0.009779 deg/s,
      cmd heading: 333.337110 deg,
      new cmd heading: 333.326810 deg.

2025-06-05T16:47:22.763Z,1749142042.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817650 target range: 332.718506 and range: 335.30 m.
2025-06-05T16:47:22.877Z,1749142042.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249652
2025-06-05T16:47:23.127Z,1749142043.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499560
2025-06-05T16:47:23.203Z,1749142043.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.72 m.
2025-06-05T16:47:23.206Z,1749142043.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.718506 m,
      nav range: 310.906128 m,
      bearing: 333.118443 deg,
      approach rate: -0.669166 m/s,
      LOS rate: -0.009087 deg/s,
      cmd heading: 333.326810 deg,
      new cmd heading: 333.314712 deg.

2025-06-05T16:47:23.207Z,1749142043.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817439 target range: 332.718506 and range: 335.30 m.
2025-06-05T16:47:23.380Z,1749142043.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752412
2025-06-05T16:47:23.576Z,1749142043.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.72 m.
2025-06-05T16:47:23.580Z,1749142043.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.718506 m,
      nav range: 310.651550 m,
      bearing: 333.115025 deg,
      approach rate: -0.682249 m/s,
      LOS rate: -0.009167 deg/s,
      cmd heading: 333.314707 deg,
      new cmd heading: 333.304445 deg.

2025-06-05T16:47:23.581Z,1749142043.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817260 target range: 332.718506 and range: 335.30 m.
2025-06-05T16:47:23.632Z,1749142043.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004641
2025-06-05T16:47:23.886Z,1749142043.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257869
2025-06-05T16:47:24.031Z,1749142044.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.72 m.
2025-06-05T16:47:24.034Z,1749142044.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.718506 m,
      nav range: 310.344513 m,
      bearing: 333.110122 deg,
      approach rate: -0.675052 m/s,
      LOS rate: -0.010790 deg/s,
      cmd heading: 333.304434 deg,
      new cmd heading: 333.289711 deg.

2025-06-05T16:47:24.035Z,1749142044.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817003 target range: 332.718506 and range: 335.30 m.
2025-06-05T16:47:24.135Z,1749142044.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507763
2025-06-05T16:47:24.387Z,1749142044.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759907
2025-06-05T16:47:24.407Z,1749142044.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:24.409Z,1749142044.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.72 m.
2025-06-05T16:47:24.420Z,1749142044.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.718506 m,
      nav range: 310.102722 m,
      bearing: 333.106254 deg,
      approach rate: -0.640339 m/s,
      LOS rate: -0.010252 deg/s,
      cmd heading: 333.289708 deg,
      new cmd heading: 333.278094 deg.

2025-06-05T16:47:24.421Z,1749142044.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816800 target range: 332.718506 and range: 335.30 m.
2025-06-05T16:47:24.639Z,1749142044.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011590
2025-06-05T16:47:24.799Z,1749142044.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.72 m.
2025-06-05T16:47:24.802Z,1749142044.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.718506 m,
      nav range: 309.846008 m,
      bearing: 333.102118 deg,
      approach rate: -0.657524 m/s,
      LOS rate: -0.010603 deg/s,
      cmd heading: 333.278097 deg,
      new cmd heading: 333.265678 deg.

2025-06-05T16:47:24.804Z,1749142044.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816583 target range: 332.718506 and range: 335.30 m.
2025-06-05T16:47:24.895Z,1749142044.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266800
2025-06-05T16:47:25.143Z,1749142045.143 [DAT](INFO): DAT read: Rx Time:16:47:23.6876

2025-06-05T16:47:25.144Z,1749142045.144 [DAT](INFO): Rx dataTimestamp_ set to:1749142045.143396
2025-06-05T16:47:25.144Z,1749142045.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516695
2025-06-05T16:47:25.248Z,1749142045.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.72 m.
2025-06-05T16:47:25.251Z,1749142045.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.718506 m,
      nav range: 309.520782 m,
      bearing: 333.097187 deg,
      approach rate: -0.724268 m/s,
      LOS rate: -0.010993 deg/s,
      cmd heading: 333.265666 deg,
      new cmd heading: 333.250857 deg.

2025-06-05T16:47:25.252Z,1749142045.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816325 target range: 332.718506 and range: 335.30 m.
2025-06-05T16:47:25.397Z,1749142045.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768951
2025-06-05T16:47:25.607Z,1749142045.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.72 m.
2025-06-05T16:47:25.610Z,1749142045.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.718506 m,
      nav range: 309.280304 m,
      bearing: 333.093534 deg,
      approach rate: -0.671576 m/s,
      LOS rate: -0.010210 deg/s,
      cmd heading: 333.250858 deg,
      new cmd heading: 333.239891 deg.

2025-06-05T16:47:25.611Z,1749142045.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816133 target range: 332.718506 and range: 335.30 m.
2025-06-05T16:47:25.653Z,1749142045.653 [DAT](INFO): DAT read: 16:47:23.6876 LVL= 27232, 30849, 26258, 32755, AGC= 68, IDX= 271, 0.00,-1.663,-2.955,-1.659,-2.353, PHS= 0.778,-0.555, 0.691, RAW= 146.7, -14.0, CAL= 153.3, -22.1, ROT= 356.7,  22.1

2025-06-05T16:47:25.655Z,1749142045.655 [DAT](INFO): got valid direction response:
 16:47:23.6876 LVL= 27232, 30849, 26258, 32755, AGC= 68, IDX= 271, 0.00,-1.663,-2.955,-1.659,-2.353, PHS= 0.778,-0.555, 0.691, RAW= 146.7, -14.0, CAL= 153.3, -22.1, ROT= 356.7,  22.1

2025-06-05T16:47:25.655Z,1749142045.655 [DAT](INFO): DAT read: Bearing 356.7,  22.1 (Local)

2025-06-05T16:47:25.656Z,1749142045.656 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.7,  22.1 (Local)

2025-06-05T16:47:25.657Z,1749142045.657 [DAT](INFO): DAT read: Range 10 to 50 : 322.5 m  (Round-trip  430.0 ms) speed  0.5 m/s

2025-06-05T16:47:25.658Z,1749142045.658 [DAT](INFO): DAT read: user:2371>

2025-06-05T16:47:25.659Z,1749142045.659 [DAT](INFO): DAT read: Tx time:16:47:24.8035

2025-06-05T16:47:25.659Z,1749142045.659 [DAT](INFO): Ping request sent.
2025-06-05T16:47:25.659Z,1749142045.659 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:25.660Z,1749142045.660 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:47:25.660Z,1749142045.660 [DAT](INFO): direction in FSK: [0.924992,-0.053334,-0.376224]
2025-06-05T16:47:25.661Z,1749142045.661 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:25.661Z,1749142045.661 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:25.677Z,1749142045.677 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:25.677Z,1749142045.677 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:25.904Z,1749142045.904 [DAT](INFO): DAT read: TxSync time:16:47:24.8027

2025-06-05T16:47:26.139Z,1749142046.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 322.500000 m,
      deltaT: 4.031777 s,
      deltaX: -12.799988 m,
      approachRate: -3.174776 m/s,
      rangeRepo size: 4

2025-06-05T16:47:26.141Z,1749142046.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 320.014252 m,
      bearing: 331.404903 deg,
      lat: 36.906199 deg,
      lon: -122.116143 deg,
      deltaT: 4.031777 s,
      deltaX: -12.704254 m,
      approachRate: -3.151031 m/s,
      posRepo size: 4

2025-06-05T16:47:26.142Z,1749142046.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.01 m.
2025-06-05T16:47:26.149Z,1749142046.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.014252 m,
      nav range: 308.925446 m,
      bearing: 333.087737 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010210 deg/s,
      cmd heading: 333.239903 deg,
      new cmd heading: 333.223614 deg.

2025-06-05T16:47:26.154Z,1749142046.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815849 target range: 320.014252 and range: 322.50 m.
2025-06-05T16:47:26.509Z,1749142046.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:26.516Z,1749142046.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.01 m.
2025-06-05T16:47:26.528Z,1749142046.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.014252 m,
      nav range: 308.666595 m,
      bearing: 333.083475 deg,
      approach rate: -0.685421 m/s,
      LOS rate: -0.011295 deg/s,
      cmd heading: 333.223619 deg,
      new cmd heading: 333.210822 deg.

2025-06-05T16:47:26.547Z,1749142046.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815626 target range: 320.014252 and range: 322.50 m.
2025-06-05T16:47:26.656Z,1749142046.656 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:26.656Z,1749142046.656 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:26.657Z,1749142046.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:26.911Z,1749142046.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250149
2025-06-05T16:47:27.050Z,1749142047.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.01 m.
2025-06-05T16:47:27.053Z,1749142047.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.014252 m,
      nav range: 308.315857 m,
      bearing: 333.077878 deg,
      approach rate: -0.656223 m/s,
      LOS rate: -0.010483 deg/s,
      cmd heading: 333.210833 deg,
      new cmd heading: 333.194025 deg.

2025-06-05T16:47:27.054Z,1749142047.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815333 target range: 320.014252 and range: 322.50 m.
2025-06-05T16:47:27.159Z,1749142047.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500038
2025-06-05T16:47:27.412Z,1749142047.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752010
2025-06-05T16:47:27.425Z,1749142047.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.01 m.
2025-06-05T16:47:27.429Z,1749142047.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.014252 m,
      nav range: 308.046936 m,
      bearing: 333.073525 deg,
      approach rate: -0.717226 m/s,
      LOS rate: -0.011622 deg/s,
      cmd heading: 333.194031 deg,
      new cmd heading: 333.180958 deg.

2025-06-05T16:47:27.431Z,1749142047.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815105 target range: 320.014252 and range: 322.50 m.
2025-06-05T16:47:27.664Z,1749142047.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004703
2025-06-05T16:47:27.776Z,1749142047.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.01 m.
2025-06-05T16:47:27.783Z,1749142047.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.014252 m,
      nav range: 307.816193 m,
      bearing: 333.069757 deg,
      approach rate: -0.657717 m/s,
      LOS rate: -0.010747 deg/s,
      cmd heading: 333.180972 deg,
      new cmd heading: 333.169661 deg.

2025-06-05T16:47:27.784Z,1749142047.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814908 target range: 320.014252 and range: 322.50 m.
2025-06-05T16:47:27.918Z,1749142047.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258430
2025-06-05T16:47:28.167Z,1749142048.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507915
2025-06-05T16:47:28.190Z,1749142048.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.01 m.
2025-06-05T16:47:28.193Z,1749142048.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.014252 m,
      nav range: 307.538361 m,
      bearing: 333.065158 deg,
      approach rate: -0.671314 m/s,
      LOS rate: -0.011122 deg/s,
      cmd heading: 333.169661 deg,
      new cmd heading: 333.155852 deg.

2025-06-05T16:47:28.194Z,1749142048.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814667 target range: 320.014252 and range: 322.50 m.
2025-06-05T16:47:28.419Z,1749142048.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759970
2025-06-05T16:47:28.564Z,1749142048.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:28.566Z,1749142048.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.01 m.
2025-06-05T16:47:28.569Z,1749142048.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.014252 m,
      nav range: 307.292480 m,
      bearing: 333.061038 deg,
      approach rate: -0.654131 m/s,
      LOS rate: -0.010970 deg/s,
      cmd heading: 333.155864 deg,
      new cmd heading: 333.143494 deg.

2025-06-05T16:47:28.570Z,1749142048.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814451 target range: 320.014252 and range: 322.50 m.
2025-06-05T16:47:28.671Z,1749142048.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012052
2025-06-05T16:47:28.925Z,1749142048.925 [DAT](INFO): DAT read: Rx Time:16:47:27.6347

2025-06-05T16:47:28.927Z,1749142048.927 [DAT](INFO): Rx dataTimestamp_ set to:1749142048.925758
2025-06-05T16:47:28.929Z,1749142048.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269164
2025-06-05T16:47:29.066Z,1749142049.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.01 m.
2025-06-05T16:47:29.085Z,1749142049.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.014252 m,
      nav range: 306.965912 m,
      bearing: 333.056176 deg,
      approach rate: -0.653075 m/s,
      LOS rate: -0.009733 deg/s,
      cmd heading: 333.143488 deg,
      new cmd heading: 333.128886 deg.

2025-06-05T16:47:29.086Z,1749142049.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814196 target range: 320.014252 and range: 322.50 m.
2025-06-05T16:47:29.176Z,1749142049.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516878
2025-06-05T16:47:29.425Z,1749142049.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.01 m.
2025-06-05T16:47:29.439Z,1749142049.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770393
2025-06-05T16:47:29.457Z,1749142049.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.014252 m,
      nav range: 306.744873 m,
      bearing: 333.052855 deg,
      approach rate: -0.616389 m/s,
      LOS rate: -0.009269 deg/s,
      cmd heading: 333.128898 deg,
      new cmd heading: 333.118927 deg.

2025-06-05T16:47:29.465Z,1749142049.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814022 target range: 320.014252 and range: 322.50 m.
2025-06-05T16:47:29.686Z,1749142049.686 [DAT](INFO): DAT read: 16:47:27.6347 LVL= 28256, 31521, 24546, 32755, AGC= 66, IDX= 418, 0.10,-2.146, 2.836,-2.421,-2.920, PHS= 0.862,-0.480, 0.496, RAW= 134.7, -14.5, CAL= 140.2, -24.1, ROT=   9.8,  24.1

2025-06-05T16:47:29.687Z,1749142049.687 [DAT](INFO): got valid direction response:
 16:47:27.6347 LVL= 28256, 31521, 24546, 32755, AGC= 66, IDX= 418, 0.10,-2.146, 2.836,-2.421,-2.920, PHS= 0.862,-0.480, 0.496, RAW= 134.7, -14.5, CAL= 140.2, -24.1, ROT=   9.8,  24.1

2025-06-05T16:47:29.688Z,1749142049.688 [DAT](INFO): DAT read: Bearing   9.8,  24.1 (Local)

2025-06-05T16:47:29.688Z,1749142049.688 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.8,  24.1 (Local)

2025-06-05T16:47:29.690Z,1749142049.690 [DAT](INFO): DAT read: Range 10 to 50 : 320.3 m  (Round-trip  427.1 ms) speed  0.5 m/s

2025-06-05T16:47:29.691Z,1749142049.691 [DAT](INFO): DAT read: user:2372>

2025-06-05T16:47:29.692Z,1749142049.692 [DAT](INFO): DAT read: Tx time:16:47:28.7535

2025-06-05T16:47:29.692Z,1749142049.692 [DAT](INFO): Ping request sent.
2025-06-05T16:47:29.692Z,1749142049.692 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:29.692Z,1749142049.692 [DAT](INFO): DAT read: TxSync time:16:47:28.7527

2025-06-05T16:47:29.693Z,1749142049.693 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:47:29.694Z,1749142049.694 [DAT](INFO): direction in FSK: [0.899514,0.155373,-0.408330]
2025-06-05T16:47:29.695Z,1749142049.695 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:29.695Z,1749142049.695 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:29.699Z,1749142049.699 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:29.699Z,1749142049.699 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:29.924Z,1749142049.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 320.299988 m,
      deltaT: 4.032436 s,
      deltaX: -2.200012 m,
      approachRate: -0.545579 m/s,
      rangeRepo size: 4

2025-06-05T16:47:29.954Z,1749142049.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 317.824463 m,
      bearing: 344.201149 deg,
      lat: 36.906257 deg,
      lon: -122.116143 deg,
      deltaT: 4.032436 s,
      deltaX: -2.189789 m,
      approachRate: -0.543044 m/s,
      posRepo size: 4

2025-06-05T16:47:29.966Z,1749142049.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.82 m.
2025-06-05T16:47:29.999Z,1749142049.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.824463 m,
      nav range: 312.230621 m,
      bearing: 333.586349 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009269 deg/s,
      cmd heading: 333.118926 deg,
      new cmd heading: 333.105305 deg.

2025-06-05T16:47:29.000Z,1749142050.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813784 target range: 317.824463 and range: 320.30 m.
2025-06-05T16:47:30.455Z,1749142050.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.82 m.
2025-06-05T16:47:30.458Z,1749142050.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.824463 m,
      nav range: 311.861023 m,
      bearing: 333.582079 deg,
      approach rate: -0.683541 m/s,
      LOS rate: -0.007907 deg/s,
      cmd heading: 333.105293 deg,
      new cmd heading: 333.092467 deg.

2025-06-05T16:47:30.466Z,1749142050.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813560 target range: 317.824463 and range: 320.30 m.
2025-06-05T16:47:30.792Z,1749142050.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:30.795Z,1749142050.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.82 m.
2025-06-05T16:47:30.799Z,1749142050.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.824463 m,
      nav range: 311.623993 m,
      bearing: 333.579344 deg,
      approach rate: -0.698312 m/s,
      LOS rate: -0.008065 deg/s,
      cmd heading: 333.092480 deg,
      new cmd heading: 333.084267 deg.

2025-06-05T16:47:30.800Z,1749142050.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813417 target range: 317.824463 and range: 320.30 m.
2025-06-05T16:47:30.941Z,1749142050.941 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:30.941Z,1749142050.941 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:30.942Z,1749142050.942 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:31.191Z,1749142051.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499247
2025-06-05T16:47:31.221Z,1749142051.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.82 m.
2025-06-05T16:47:31.244Z,1749142051.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.824463 m,
      nav range: 311.353455 m,
      bearing: 333.576130 deg,
      approach rate: -0.634693 m/s,
      LOS rate: -0.007547 deg/s,
      cmd heading: 333.084256 deg,
      new cmd heading: 333.074606 deg.

2025-06-05T16:47:31.245Z,1749142051.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813249 target range: 317.824463 and range: 320.30 m.
2025-06-05T16:47:31.443Z,1749142051.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751239
2025-06-05T16:47:31.619Z,1749142051.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.82 m.
2025-06-05T16:47:31.621Z,1749142051.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.824463 m,
      nav range: 311.113190 m,
      bearing: 333.573330 deg,
      approach rate: -0.610479 m/s,
      LOS rate: -0.007119 deg/s,
      cmd heading: 333.074612 deg,
      new cmd heading: 333.066206 deg.

2025-06-05T16:47:31.622Z,1749142051.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813102 target range: 317.824463 and range: 320.30 m.
2025-06-05T16:47:31.696Z,1749142051.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003936
2025-06-05T16:47:31.947Z,1749142051.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255479
2025-06-05T16:47:32.098Z,1749142052.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.82 m.
2025-06-05T16:47:32.105Z,1749142052.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.824463 m,
      nav range: 310.806854 m,
      bearing: 333.568717 deg,
      approach rate: -0.633565 m/s,
      LOS rate: -0.009549 deg/s,
      cmd heading: 333.066197 deg,
      new cmd heading: 333.052347 deg.

2025-06-05T16:47:32.106Z,1749142052.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812860 target range: 317.824463 and range: 320.30 m.
2025-06-05T16:47:32.199Z,1749142052.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507523
2025-06-05T16:47:32.444Z,1749142052.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.82 m.
2025-06-05T16:47:32.448Z,1749142052.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.824463 m,
      nav range: 310.569763 m,
      bearing: 333.565115 deg,
      approach rate: -0.685565 m/s,
      LOS rate: -0.010424 deg/s,
      cmd heading: 333.052346 deg,
      new cmd heading: 333.041531 deg.

2025-06-05T16:47:32.449Z,1749142052.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812671 target range: 317.824463 and range: 320.30 m.
2025-06-05T16:47:32.451Z,1749142052.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759342
2025-06-05T16:47:32.703Z,1749142052.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011174
2025-06-05T16:47:32.868Z,1749142052.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:32.874Z,1749142052.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.82 m.
2025-06-05T16:47:32.877Z,1749142052.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.824463 m,
      nav range: 310.309967 m,
      bearing: 333.561132 deg,
      approach rate: -0.609214 m/s,
      LOS rate: -0.009347 deg/s,
      cmd heading: 333.041527 deg,
      new cmd heading: 333.029568 deg.

2025-06-05T16:47:32.878Z,1749142052.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812462 target range: 317.824463 and range: 320.30 m.
2025-06-05T16:47:32.958Z,1749142052.958 [DAT](INFO): DAT read: Rx Time:16:47:31.5810

2025-06-05T16:47:32.959Z,1749142052.959 [DAT](INFO): Rx dataTimestamp_ set to:1749142052.958313
2025-06-05T16:47:32.962Z,1749142052.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269219
2025-06-05T16:47:33.207Z,1749142053.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515178
2025-06-05T16:47:33.294Z,1749142053.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.82 m.
2025-06-05T16:47:33.298Z,1749142053.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.824463 m,
      nav range: 310.033020 m,
      bearing: 333.556384 deg,
      approach rate: -0.679086 m/s,
      LOS rate: -0.011654 deg/s,
      cmd heading: 333.029560 deg,
      new cmd heading: 333.015302 deg.

2025-06-05T16:47:33.303Z,1749142053.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812213 target range: 317.824463 and range: 320.30 m.
2025-06-05T16:47:33.466Z,1749142053.466 [DAT](INFO): DAT read: 16:47:31.5811 LVL= 17344, 27441, 16258, 27027, AGC= 67, IDX= 396,-0.03, 0.257,-1.390,-0.015,-0.619, PHS= 0.964,-0.724, 0.601, RAW= 138.2, -10.9, CAL= 144.5, -21.1, ROT=   5.5,  21.1

2025-06-05T16:47:33.467Z,1749142053.467 [DAT](INFO): got valid direction response:
 16:47:31.5811 LVL= 17344, 27441, 16258, 27027, AGC= 67, IDX= 396,-0.03, 0.257,-1.390,-0.015,-0.619, PHS= 0.964,-0.724, 0.601, RAW= 138.2, -10.9, CAL= 144.5, -21.1, ROT=   5.5,  21.1

2025-06-05T16:47:33.468Z,1749142053.468 [DAT](INFO): DAT read: Bearing   5.5,  21.1 (Local)

2025-06-05T16:47:33.469Z,1749142053.469 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.5,  21.1 (Local)

2025-06-05T16:47:33.470Z,1749142053.470 [DAT](INFO): DAT read: Range 10 to 50 : 317.5 m  (Round-trip  423.4 ms) speed  0.7 m/s

2025-06-05T16:47:33.471Z,1749142053.471 [DAT](INFO): DAT read: user:2373>

2025-06-05T16:47:33.472Z,1749142053.472 [DAT](INFO): DAT read: Tx time:16:47:32.7036

2025-06-05T16:47:33.472Z,1749142053.472 [DAT](INFO): Ping request sent.
2025-06-05T16:47:33.472Z,1749142053.472 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:33.472Z,1749142053.472 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:47:33.473Z,1749142053.473 [DAT](INFO): direction in FSK: [0.928658,0.089420,-0.359997]
2025-06-05T16:47:33.474Z,1749142053.474 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:33.474Z,1749142053.474 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:33.478Z,1749142053.478 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:33.483Z,1749142053.483 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:33.711Z,1749142053.711 [DAT](INFO): DAT read: TxSync time:16:47:32.7028

2025-06-05T16:47:33.758Z,1749142053.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 317.500000 m,
      deltaT: 3.779386 s,
      deltaX: -2.799988 m,
      approachRate: -0.740858 m/s,
      rangeRepo size: 4

2025-06-05T16:47:33.768Z,1749142053.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 315.030396 m,
      bearing: 339.803376 deg,
      lat: 36.906272 deg,
      lon: -122.116072 deg,
      deltaT: 3.779386 s,
      deltaX: -2.794067 m,
      approachRate: -0.739291 m/s,
      posRepo size: 4

2025-06-05T16:47:33.769Z,1749142053.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.03 m.
2025-06-05T16:47:33.781Z,1749142053.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.030396 m,
      nav range: 308.561981 m,
      bearing: 334.740695 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011654 deg/s,
      cmd heading: 333.015299 deg,
      new cmd heading: 332.998542 deg.

2025-06-05T16:47:33.791Z,1749142053.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811921 target range: 315.030396 and range: 317.50 m.
2025-06-05T16:47:34.261Z,1749142054.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.03 m.
2025-06-05T16:47:34.268Z,1749142054.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.030396 m,
      nav range: 308.229034 m,
      bearing: 334.735171 deg,
      approach rate: -0.660904 m/s,
      LOS rate: -0.010978 deg/s,
      cmd heading: 332.998551 deg,
      new cmd heading: 332.981960 deg.

2025-06-05T16:47:34.269Z,1749142054.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811632 target range: 315.030396 and range: 317.50 m.
2025-06-05T16:47:34.592Z,1749142054.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.03 m.
2025-06-05T16:47:34.610Z,1749142054.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.030396 m,
      nav range: 307.994263 m,
      bearing: 334.731164 deg,
      approach rate: -0.710018 m/s,
      LOS rate: -0.012127 deg/s,
      cmd heading: 332.981967 deg,
      new cmd heading: 332.969938 deg.

2025-06-05T16:47:34.612Z,1749142054.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811422 target range: 315.030396 and range: 317.50 m.
2025-06-05T16:47:35.063Z,1749142055.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:35.071Z,1749142055.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.03 m.
2025-06-05T16:47:35.078Z,1749142055.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.030396 m,
      nav range: 307.717346 m,
      bearing: 334.726332 deg,
      approach rate: -0.577086 m/s,
      LOS rate: -0.010079 deg/s,
      cmd heading: 332.969946 deg,
      new cmd heading: 332.955437 deg.

2025-06-05T16:47:35.079Z,1749142055.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811169 target range: 315.030396 and range: 317.50 m.
2025-06-05T16:47:35.226Z,1749142055.226 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:35.227Z,1749142055.227 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:35.227Z,1749142055.227 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:35.475Z,1749142055.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003139
2025-06-05T16:47:35.476Z,1749142055.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.03 m.
2025-06-05T16:47:35.481Z,1749142055.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.030396 m,
      nav range: 307.415955 m,
      bearing: 334.720980 deg,
      approach rate: -0.747850 m/s,
      LOS rate: -0.013291 deg/s,
      cmd heading: 332.955439 deg,
      new cmd heading: 332.939369 deg.

2025-06-05T16:47:35.482Z,1749142055.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810888 target range: 315.030396 and range: 317.50 m.
2025-06-05T16:47:35.727Z,1749142055.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255114
2025-06-05T16:47:35.803Z,1749142055.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.03 m.
2025-06-05T16:47:35.805Z,1749142055.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.030396 m,
      nav range: 307.200531 m,
      bearing: 334.716914 deg,
      approach rate: -0.657272 m/s,
      LOS rate: -0.012417 deg/s,
      cmd heading: 332.939374 deg,
      new cmd heading: 332.927165 deg.

2025-06-05T16:47:35.827Z,1749142055.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810675 target range: 315.030396 and range: 317.50 m.
2025-06-05T16:47:35.979Z,1749142055.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507105
2025-06-05T16:47:36.232Z,1749142056.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759495
2025-06-05T16:47:36.274Z,1749142056.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.03 m.
2025-06-05T16:47:36.277Z,1749142056.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.030396 m,
      nav range: 306.892883 m,
      bearing: 334.710269 deg,
      approach rate: -0.653670 m/s,
      LOS rate: -0.014132 deg/s,
      cmd heading: 332.927162 deg,
      new cmd heading: 332.907208 deg.

2025-06-05T16:47:36.279Z,1749142056.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810327 target range: 315.030396 and range: 317.50 m.
2025-06-05T16:47:36.484Z,1749142056.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011474
2025-06-05T16:47:36.639Z,1749142056.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.03 m.
2025-06-05T16:47:36.643Z,1749142056.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.030396 m,
      nav range: 306.650269 m,
      bearing: 334.704982 deg,
      approach rate: -0.661810 m/s,
      LOS rate: -0.014432 deg/s,
      cmd heading: 332.907218 deg,
      new cmd heading: 332.891345 deg.

2025-06-05T16:47:36.644Z,1749142056.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810050 target range: 315.030396 and range: 317.50 m.
2025-06-05T16:47:36.735Z,1749142056.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263192
2025-06-05T16:47:36.987Z,1749142056.987 [DAT](INFO): DAT read: Rx Time:16:47:35.5274

2025-06-05T16:47:36.988Z,1749142056.988 [DAT](INFO): Rx dataTimestamp_ set to:1749142056.987250
2025-06-05T16:47:36.988Z,1749142056.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515999
2025-06-05T16:47:37.147Z,1749142057.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:37.149Z,1749142057.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.03 m.
2025-06-05T16:47:37.152Z,1749142057.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.030396 m,
      nav range: 306.287231 m,
      bearing: 334.697131 deg,
      approach rate: -0.712763 m/s,
      LOS rate: -0.015433 deg/s,
      cmd heading: 332.891344 deg,
      new cmd heading: 332.867763 deg.

2025-06-05T16:47:37.153Z,1749142057.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809639 target range: 315.030396 and range: 317.50 m.
2025-06-05T16:47:37.240Z,1749142057.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767926
2025-06-05T16:47:37.443Z,1749142057.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.03 m.
2025-06-05T16:47:37.447Z,1749142057.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.030396 m,
      nav range: 306.086731 m,
      bearing: 334.692787 deg,
      approach rate: -0.680701 m/s,
      LOS rate: -0.014758 deg/s,
      cmd heading: 332.867767 deg,
      new cmd heading: 332.854726 deg.

2025-06-05T16:47:37.448Z,1749142057.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809411 target range: 315.030396 and range: 317.50 m.
2025-06-05T16:47:37.565Z,1749142057.565 [DAT](INFO): DAT read: 16:47:35.5274 LVL= 28144, 32753, 23122, 32755, AGC= 67, IDX= 406, 0.14,-1.776, 3.069,-2.017,-2.502, PHS= 0.814,-0.665, 0.482, RAW= 137.7,  -9.4, CAL= 143.9, -20.1, ROT=   6.1,  20.1

2025-06-05T16:47:37.566Z,1749142057.566 [DAT](INFO): got valid direction response:
 16:47:35.5274 LVL= 28144, 32753, 23122, 32755, AGC= 67, IDX= 406, 0.14,-1.776, 3.069,-2.017,-2.502, PHS= 0.814,-0.665, 0.482, RAW= 137.7,  -9.4, CAL= 143.9, -20.1, ROT=   6.1,  20.1

2025-06-05T16:47:37.643Z,1749142057.643 [DAT](INFO): DAT read: Bearing   6.1,  20.1 (Local)

2025-06-05T16:47:37.644Z,1749142057.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.1,  20.1 (Local)

2025-06-05T16:47:37.646Z,1749142057.646 [DAT](INFO): DAT read: Range 10 to 50 : 314.7 m  (Round-trip  419.7 ms) speed  0.4 m/s

2025-06-05T16:47:37.655Z,1749142057.655 [DAT](INFO): DAT read: user:2374>

2025-06-05T16:47:37.656Z,1749142057.656 [DAT](INFO): DAT read: Tx time:16:47:36.6036

2025-06-05T16:47:37.656Z,1749142057.656 [DAT](INFO): Ping request sent.
2025-06-05T16:47:37.656Z,1749142057.656 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:37.656Z,1749142057.656 [DAT](INFO): DAT read: 8

2025-06-05T16:47:37.656Z,1749142057.656 [DAT](INFO): unknown deviceResponse_: 8

2025-06-05T16:47:37.657Z,1749142057.657 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:47:37.658Z,1749142057.658 [DAT](INFO): direction in FSK: [0.933777,0.099792,-0.343660]
2025-06-05T16:47:37.666Z,1749142057.666 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:37.667Z,1749142057.667 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:37.670Z,1749142057.670 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:37.670Z,1749142057.670 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:37.867Z,1749142057.867 [CTD_Seabird](ERROR): Failed to parse device response: .94
2025-06-05T16:47:37.984Z,1749142057.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 314.700012 m,
      deltaT: 4.079788 s,
      deltaX: -2.799988 m,
      approachRate: -0.686307 m/s,
      rangeRepo size: 4

2025-06-05T16:47:37.999Z,1749142057.999 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:47:37.999Z,1749142057.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 312.234863 m,
      bearing: 340.955746 deg,
      lat: 36.906371 deg,
      lon: -122.115791 deg,
      deltaT: 4.079788 s,
      deltaX: -2.795532 m,
      approachRate: -0.685215 m/s,
      posRepo size: 4

2025-06-05T16:47:38.000Z,1749142058.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:38.013Z,1749142058.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 306.187775 m,
      bearing: 339.795615 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014758 deg/s,
      cmd heading: 332.854735 deg,
      new cmd heading: 332.830823 deg.

2025-06-05T16:47:38.022Z,1749142058.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808994 target range: 312.234863 and range: 314.70 m.
2025-06-05T16:47:38.396Z,1749142058.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:38.405Z,1749142058.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 305.866913 m,
      bearing: 339.795464 deg,
      approach rate: -0.779118 m/s,
      LOS rate: -0.000366 deg/s,
      cmd heading: 332.830829 deg,
      new cmd heading: 332.830377 deg.

2025-06-05T16:47:38.406Z,1749142058.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808986 target range: 312.234863 and range: 314.70 m.
2025-06-05T16:47:38.674Z,1749142058.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:38.677Z,1749142058.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 305.671631 m,
      bearing: 339.795462 deg,
      approach rate: -0.700518 m/s,
      LOS rate: -0.000007 deg/s,
      cmd heading: 332.830364 deg,
      new cmd heading: 332.830359 deg.

2025-06-05T16:47:38.678Z,1749142058.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808986 target range: 312.234863 and range: 314.70 m.
2025-06-05T16:47:39.225Z,1749142059.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:39.227Z,1749142059.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:39.248Z,1749142059.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 305.286560 m,
      bearing: 339.797087 deg,
      approach rate: -0.696499 m/s,
      LOS rate: 0.002943 deg/s,
      cmd heading: 332.830364 deg,
      new cmd heading: 332.835246 deg.

2025-06-05T16:47:39.249Z,1749142059.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809071 target range: 312.234863 and range: 314.70 m.
2025-06-05T16:47:39.255Z,1749142059.255 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:39.255Z,1749142059.255 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:39.255Z,1749142059.255 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:39.507Z,1749142059.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.851101
2025-06-05T16:47:39.628Z,1749142059.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:39.636Z,1749142059.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 305.016724 m,
      bearing: 339.798306 deg,
      approach rate: -0.672679 m/s,
      LOS rate: 0.003041 deg/s,
      cmd heading: 332.835255 deg,
      new cmd heading: 332.838914 deg.

2025-06-05T16:47:39.637Z,1749142059.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809135 target range: 312.234863 and range: 314.70 m.
2025-06-05T16:47:39.761Z,1749142059.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.104338
2025-06-05T16:47:40.011Z,1749142060.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.355216
2025-06-05T16:47:40.073Z,1749142060.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:40.083Z,1749142060.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 304.696381 m,
      bearing: 339.799838 deg,
      approach rate: -0.719890 m/s,
      LOS rate: 0.003446 deg/s,
      cmd heading: 332.838916 deg,
      new cmd heading: 332.843516 deg.

2025-06-05T16:47:40.088Z,1749142060.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809215 target range: 312.234863 and range: 314.70 m.
2025-06-05T16:47:40.264Z,1749142060.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.608199
2025-06-05T16:47:40.515Z,1749142060.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.859203
2025-06-05T16:47:40.527Z,1749142060.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:40.532Z,1749142060.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 304.399902 m,
      bearing: 339.802014 deg,
      approach rate: -0.654216 m/s,
      LOS rate: 0.004807 deg/s,
      cmd heading: 332.843506 deg,
      new cmd heading: 332.850040 deg.

2025-06-05T16:47:40.534Z,1749142060.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809329 target range: 312.234863 and range: 314.70 m.
2025-06-05T16:47:40.768Z,1749142060.768 [DAT](INFO): DAT read: Rx Time:16:47:39.4388

2025-06-05T16:47:40.769Z,1749142060.769 [DAT](INFO): Rx dataTimestamp_ set to:1749142060.768313
2025-06-05T16:47:40.769Z,1749142060.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.113387
2025-06-05T16:47:40.927Z,1749142060.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:40.932Z,1749142060.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 304.128174 m,
      bearing: 339.804087 deg,
      approach rate: -0.677205 m/s,
      LOS rate: 0.005172 deg/s,
      cmd heading: 332.850035 deg,
      new cmd heading: 332.856261 deg.

2025-06-05T16:47:40.933Z,1749142060.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809438 target range: 312.234863 and range: 314.70 m.
2025-06-05T16:47:41.020Z,1749142061.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.363946
2025-06-05T16:47:41.272Z,1749142061.272 [DAT](INFO): DAT read: Range 10 to 50 : 323.3 m  (Round-trip  431.1 ms) speed  0.4 m/s

2025-06-05T16:47:41.273Z,1749142061.273 [DAT](INFO): DAT read: user:2375>

2025-06-05T16:47:41.274Z,1749142061.274 [DAT](INFO): DAT read: Tx time:16:47:40.5536

2025-06-05T16:47:41.274Z,1749142061.274 [DAT](INFO): Ping request sent.
2025-06-05T16:47:41.274Z,1749142061.274 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:41.274Z,1749142061.274 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:47:41.274Z,1749142061.274 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:41.275Z,1749142061.275 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:41.404Z,1749142061.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:41.416Z,1749142061.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 323.299988 m,
      deltaT: 3.732063 s,
      deltaX: 8.599976 m,
      approachRate: 2.304349 m/s,
      rangeRepo size: 4

2025-06-05T16:47:41.417Z,1749142061.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:41.420Z,1749142061.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 303.792511 m,
      bearing: 339.808049 deg,
      approach rate: -0.701406 m/s,
      LOS rate: 0.008287 deg/s,
      cmd heading: 332.856265 deg,
      new cmd heading: 332.868162 deg.

2025-06-05T16:47:41.421Z,1749142061.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809645 target range: 312.234863 and range: 323.30 m.
2025-06-05T16:47:41.524Z,1749142061.524 [DAT](INFO): DAT read: TxSync time:16:47:40.5528

2025-06-05T16:47:41.525Z,1749142061.525 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:41.526Z,1749142061.526 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:41.526Z,1749142061.526 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:41.775Z,1749142061.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501088
2025-06-05T16:47:41.847Z,1749142061.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:41.850Z,1749142061.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 303.508911 m,
      bearing: 339.811431 deg,
      approach rate: -0.645893 m/s,
      LOS rate: 0.007711 deg/s,
      cmd heading: 332.868149 deg,
      new cmd heading: 332.878306 deg.

2025-06-05T16:47:41.851Z,1749142061.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809823 target range: 312.234863 and range: 323.30 m.
2025-06-05T16:47:42.027Z,1749142062.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753379
2025-06-05T16:47:42.236Z,1749142062.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:42.239Z,1749142062.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 303.220978 m,
      bearing: 339.814308 deg,
      approach rate: -0.737402 m/s,
      LOS rate: 0.007374 deg/s,
      cmd heading: 332.878312 deg,
      new cmd heading: 332.886950 deg.

2025-06-05T16:47:42.242Z,1749142062.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809973 target range: 312.234863 and range: 323.30 m.
2025-06-05T16:47:42.280Z,1749142062.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006055
2025-06-05T16:47:42.535Z,1749142062.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260538
2025-06-05T16:47:42.585Z,1749142062.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:42.592Z,1749142062.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 302.993927 m,
      bearing: 339.816524 deg,
      approach rate: -0.649739 m/s,
      LOS rate: 0.006348 deg/s,
      cmd heading: 332.886946 deg,
      new cmd heading: 332.893601 deg.

2025-06-05T16:47:42.593Z,1749142062.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810090 target range: 312.234863 and range: 323.30 m.
2025-06-05T16:47:42.783Z,1749142062.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509075
2025-06-05T16:47:42.980Z,1749142062.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:42.983Z,1749142062.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 302.729553 m,
      bearing: 339.819110 deg,
      approach rate: -0.672139 m/s,
      LOS rate: 0.006579 deg/s,
      cmd heading: 332.893612 deg,
      new cmd heading: 332.901375 deg.

2025-06-05T16:47:42.984Z,1749142062.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810225 target range: 312.234863 and range: 323.30 m.
2025-06-05T16:47:43.036Z,1749142063.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762054
2025-06-05T16:47:43.287Z,1749142063.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013140
2025-06-05T16:47:43.419Z,1749142063.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:43.426Z,1749142063.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 302.463013 m,
      bearing: 339.820970 deg,
      approach rate: -0.604139 m/s,
      LOS rate: 0.004221 deg/s,
      cmd heading: 332.901371 deg,
      new cmd heading: 332.906957 deg.

2025-06-05T16:47:43.427Z,1749142063.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810322 target range: 312.234863 and range: 323.30 m.
2025-06-05T16:47:43.540Z,1749142063.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266015
2025-06-05T16:47:43.759Z,1749142063.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:43.761Z,1749142063.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:43.765Z,1749142063.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 302.224976 m,
      bearing: 339.822597 deg,
      approach rate: -0.697285 m/s,
      LOS rate: 0.004768 deg/s,
      cmd heading: 332.906945 deg,
      new cmd heading: 332.911827 deg.

2025-06-05T16:47:43.767Z,1749142063.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810408 target range: 312.234863 and range: 323.30 m.
2025-06-05T16:47:43.791Z,1749142063.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517234
2025-06-05T16:47:44.043Z,1749142064.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769082
2025-06-05T16:47:44.249Z,1749142064.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:44.265Z,1749142064.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 301.920990 m,
      bearing: 339.824649 deg,
      approach rate: -0.623496 m/s,
      LOS rate: 0.004213 deg/s,
      cmd heading: 332.911835 deg,
      new cmd heading: 332.917998 deg.

2025-06-05T16:47:44.270Z,1749142064.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810515 target range: 312.234863 and range: 323.30 m.
2025-06-05T16:47:44.297Z,1749142064.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022889
2025-06-05T16:47:44.548Z,1749142064.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274416
2025-06-05T16:47:44.657Z,1749142064.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:44.661Z,1749142064.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 301.648529 m,
      bearing: 339.825419 deg,
      approach rate: -0.666250 m/s,
      LOS rate: 0.001886 deg/s,
      cmd heading: 332.918009 deg,
      new cmd heading: 332.920323 deg.

2025-06-05T16:47:44.664Z,1749142064.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810556 target range: 312.234863 and range: 323.30 m.
2025-06-05T16:47:44.799Z,1749142064.799 [DAT](INFO): DAT read: Rx Time:16:47:43.3856

2025-06-05T16:47:44.800Z,1749142064.800 [DAT](INFO): Rx dataTimestamp_ set to:1749142064.799538
2025-06-05T16:47:44.800Z,1749142064.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526409
2025-06-05T16:47:45.025Z,1749142065.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.23 m.
2025-06-05T16:47:45.029Z,1749142065.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.234863 m,
      nav range: 301.413086 m,
      bearing: 339.826083 deg,
      approach rate: -0.640529 m/s,
      LOS rate: 0.001808 deg/s,
      cmd heading: 332.920332 deg,
      new cmd heading: 332.922325 deg.

2025-06-05T16:47:45.031Z,1749142065.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810591 target range: 312.234863 and range: 323.30 m.
2025-06-05T16:47:45.051Z,1749142065.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777239
2025-06-05T16:47:45.317Z,1749142065.317 [DAT](INFO): DAT read: 16:47:43.3856 LVL= 22336, 26321, 21698, 31987, AGC= 65, IDX= 409, 0.37,-2.870, 2.091,-2.860, 2.517, PHS= 0.983,-0.380, 0.903, RAW= 147.0, -21.9, CAL= 152.0, -28.9, ROT= 358.0,  28.9

2025-06-05T16:47:45.318Z,1749142065.318 [DAT](INFO): got valid direction response:
 16:47:43.3856 LVL= 22336, 26321, 21698, 31987, AGC= 65, IDX= 409, 0.37,-2.870, 2.091,-2.860, 2.517, PHS= 0.983,-0.380, 0.903, RAW= 147.0, -21.9, CAL= 152.0, -28.9, ROT= 358.0,  28.9

2025-06-05T16:47:45.319Z,1749142065.319 [DAT](INFO): DAT read: Bearing 358.0,  28.9 (Local)

2025-06-05T16:47:45.320Z,1749142065.320 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,  28.9 (Local)

2025-06-05T16:47:45.321Z,1749142065.321 [DAT](INFO): DAT read: Range 10 to 50 : 320.9 m  (Round-trip  427.9 ms) speed  0.5 m/s

2025-06-05T16:47:45.322Z,1749142065.322 [DAT](INFO): DAT read: user:2376>

2025-06-05T16:47:45.323Z,1749142065.323 [DAT](INFO): DAT read: Tx time:16:47:44.5036

2025-06-05T16:47:45.323Z,1749142065.323 [DAT](INFO): Ping request sent.
2025-06-05T16:47:45.323Z,1749142065.323 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:45.323Z,1749142065.323 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:47:45.324Z,1749142065.324 [DAT](INFO): direction in FSK: [0.874931,-0.030553,-0.483282]
2025-06-05T16:47:45.325Z,1749142065.325 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:45.325Z,1749142065.325 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:45.336Z,1749142065.336 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:45.336Z,1749142065.336 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:45.555Z,1749142065.555 [DAT](INFO): DAT read: TxSync time:16:47:44.5028

2025-06-05T16:47:45.568Z,1749142065.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 320.899994 m,
      deltaT: 4.032996 s,
      deltaX: -2.399994 m,
      approachRate: -0.595090 m/s,
      rangeRepo size: 4

2025-06-05T16:47:45.571Z,1749142065.571 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:47:45.580Z,1749142065.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 318.364532 m,
      bearing: 333.520663 deg,
      lat: 36.906371 deg,
      lon: -122.115791 deg,
      deltaT: 7.765059 s,
      deltaX: 6.129669 m,
      approachRate: 0.789391 m/s,
      posRepo size: 4

2025-06-05T16:47:45.581Z,1749142065.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.36 m.
2025-06-05T16:47:45.592Z,1749142065.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.364532 m,
      nav range: 301.103638 m,
      bearing: 339.825349 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001808 deg/s,
      cmd heading: 332.922326 deg,
      new cmd heading: 332.925269 deg.

2025-06-05T16:47:45.593Z,1749142065.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810642 target range: 318.364532 and range: 320.90 m.
2025-06-05T16:47:45.971Z,1749142065.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:45.973Z,1749142065.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.36 m.
2025-06-05T16:47:45.984Z,1749142065.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.364532 m,
      nav range: 300.810089 m,
      bearing: 339.824680 deg,
      approach rate: -0.724622 m/s,
      LOS rate: -0.001652 deg/s,
      cmd heading: 332.925277 deg,
      new cmd heading: 332.923269 deg.

2025-06-05T16:47:45.985Z,1749142065.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810607 target range: 318.364532 and range: 320.90 m.
2025-06-05T16:47:46.060Z,1749142066.060 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:46.060Z,1749142066.060 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:46.061Z,1749142066.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:46.313Z,1749142066.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989317
2025-06-05T16:47:46.376Z,1749142066.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.36 m.
2025-06-05T16:47:46.383Z,1749142066.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.364532 m,
      nav range: 300.538239 m,
      bearing: 339.823284 deg,
      approach rate: -0.673892 m/s,
      LOS rate: -0.003464 deg/s,
      cmd heading: 332.923282 deg,
      new cmd heading: 332.919090 deg.

2025-06-05T16:47:46.384Z,1749142066.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810534 target range: 318.364532 and range: 320.90 m.
2025-06-05T16:47:46.567Z,1749142066.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244235
2025-06-05T16:47:46.576Z,1749142066.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:47:46.803Z,1749142066.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.36 m.
2025-06-05T16:47:46.807Z,1749142066.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.364532 m,
      nav range: 300.276489 m,
      bearing: 339.821970 deg,
      approach rate: -0.612649 m/s,
      LOS rate: -0.003079 deg/s,
      cmd heading: 332.919102 deg,
      new cmd heading: 332.915156 deg.

2025-06-05T16:47:46.808Z,1749142066.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810466 target range: 318.364532 and range: 320.90 m.
2025-06-05T16:47:46.819Z,1749142066.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496046
2025-06-05T16:47:47.071Z,1749142067.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747927
2025-06-05T16:47:47.153Z,1749142067.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.36 m.
2025-06-05T16:47:47.167Z,1749142067.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.364532 m,
      nav range: 300.055481 m,
      bearing: 339.820814 deg,
      approach rate: -0.632787 m/s,
      LOS rate: -0.003311 deg/s,
      cmd heading: 332.915168 deg,
      new cmd heading: 332.911699 deg.

2025-06-05T16:47:47.168Z,1749142067.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810405 target range: 318.364532 and range: 320.90 m.
2025-06-05T16:47:47.325Z,1749142067.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001416
2025-06-05T16:47:47.575Z,1749142067.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252118
2025-06-05T16:47:47.581Z,1749142067.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.36 m.
2025-06-05T16:47:47.584Z,1749142067.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.364532 m,
      nav range: 299.756744 m,
      bearing: 339.817998 deg,
      approach rate: -0.698355 m/s,
      LOS rate: -0.006590 deg/s,
      cmd heading: 332.911698 deg,
      new cmd heading: 332.903242 deg.

2025-06-05T16:47:47.585Z,1749142067.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810257 target range: 318.364532 and range: 320.90 m.
2025-06-05T16:47:47.828Z,1749142067.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504385
2025-06-05T16:47:47.966Z,1749142067.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.36 m.
2025-06-05T16:47:47.973Z,1749142067.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.364532 m,
      nav range: 299.516479 m,
      bearing: 339.815730 deg,
      approach rate: -0.623818 m/s,
      LOS rate: -0.005893 deg/s,
      cmd heading: 332.903229 deg,
      new cmd heading: 332.896420 deg.

2025-06-05T16:47:47.974Z,1749142067.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810139 target range: 318.364532 and range: 320.90 m.
2025-06-05T16:47:48.081Z,1749142068.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757865
2025-06-05T16:47:48.331Z,1749142068.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008039
2025-06-05T16:47:48.406Z,1749142068.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:48.409Z,1749142068.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.36 m.
2025-06-05T16:47:48.416Z,1749142068.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.364532 m,
      nav range: 299.209534 m,
      bearing: 339.814177 deg,
      approach rate: -0.692856 m/s,
      LOS rate: -0.003511 deg/s,
      cmd heading: 332.896426 deg,
      new cmd heading: 332.891760 deg.

2025-06-05T16:47:48.417Z,1749142068.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810057 target range: 318.364532 and range: 320.90 m.
2025-06-05T16:47:48.583Z,1749142068.583 [DAT](INFO): DAT read: Rx Time:16:47:47.3324

2025-06-05T16:47:48.584Z,1749142068.584 [DAT](INFO): Rx dataTimestamp_ set to:1749142068.583584
2025-06-05T16:47:48.584Z,1749142068.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261246
2025-06-05T16:47:48.741Z,1749142068.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.36 m.
2025-06-05T16:47:48.745Z,1749142068.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.364532 m,
      nav range: 298.981659 m,
      bearing: 339.813031 deg,
      approach rate: -0.685179 m/s,
      LOS rate: -0.003447 deg/s,
      cmd heading: 332.891754 deg,
      new cmd heading: 332.888315 deg.

2025-06-05T16:47:48.750Z,1749142068.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809997 target range: 318.364532 and range: 320.90 m.
2025-06-05T16:47:48.835Z,1749142068.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511934
2025-06-05T16:47:49.087Z,1749142069.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763983
2025-06-05T16:47:49.183Z,1749142069.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.36 m.
2025-06-05T16:47:49.192Z,1749142069.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.364532 m,
      nav range: 298.687744 m,
      bearing: 339.811515 deg,
      approach rate: -0.664654 m/s,
      LOS rate: -0.003432 deg/s,
      cmd heading: 332.888312 deg,
      new cmd heading: 332.883758 deg.

2025-06-05T16:47:49.194Z,1749142069.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809917 target range: 318.364532 and range: 320.90 m.
2025-06-05T16:47:49.345Z,1749142069.345 [DAT](INFO): DAT read: 16:47:47.3324 LVL= 25488, 32753, 23922, 32755, AGC= 69, IDX= 256,-0.36, 0.949,-0.599, 0.763, 0.218, PHS= 0.818,-0.770, 0.541, RAW= 140.6,  -8.1, CAL= 146.9, -17.8, ROT=   3.1,  17.8

2025-06-05T16:47:49.346Z,1749142069.346 [DAT](INFO): got valid direction response:
 16:47:47.3324 LVL= 25488, 32753, 23922, 32755, AGC= 69, IDX= 256,-0.36, 0.949,-0.599, 0.763, 0.218, PHS= 0.818,-0.770, 0.541, RAW= 140.6,  -8.1, CAL= 146.9, -17.8, ROT=   3.1,  17.8

2025-06-05T16:47:49.347Z,1749142069.347 [DAT](INFO): DAT read: Bearing   3.1,  17.8 (Local)

2025-06-05T16:47:49.348Z,1749142069.348 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.1,  17.8 (Local)

2025-06-05T16:47:49.349Z,1749142069.349 [DAT](INFO): DAT read: Range 10 to 50 : 318.4 m  (Round-trip  424.6 ms) speed  0.4 m/s

2025-06-05T16:47:49.350Z,1749142069.350 [DAT](INFO): DAT read: user:2377>

2025-06-05T16:47:49.357Z,1749142069.357 [DAT](INFO): DAT read: Tx time:16:47:48.4537

2025-06-05T16:47:49.358Z,1749142069.358 [DAT](INFO): Ping request sent.
2025-06-05T16:47:49.379Z,1749142069.379 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:49.381Z,1749142069.381 [DAT](INFO): DAT read: TxSync time:16:47:48.4529

2025-06-05T16:47:49.390Z,1749142069.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:47:49.391Z,1749142069.391 [DAT](INFO): direction in FSK: [0.950736,0.051490,-0.305695]
2025-06-05T16:47:49.392Z,1749142069.392 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:49.392Z,1749142069.392 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:49.403Z,1749142069.403 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:49.403Z,1749142069.403 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:49.720Z,1749142069.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 318.399994 m,
      deltaT: 4.035286 s,
      deltaX: -2.500000 m,
      approachRate: -0.619535 m/s,
      rangeRepo size: 4

2025-06-05T16:47:49.731Z,1749142069.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 315.870056 m,
      bearing: 337.712347 deg,
      lat: 36.906399 deg,
      lon: -122.115791 deg,
      deltaT: 4.035286 s,
      deltaX: -2.494476 m,
      approachRate: -0.618166 m/s,
      posRepo size: 4

2025-06-05T16:47:49.732Z,1749142069.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.87 m.
2025-06-05T16:47:49.743Z,1749142069.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.870056 m,
      nav range: 301.259949 m,
      bearing: 340.012583 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003432 deg/s,
      cmd heading: 332.883749 deg,
      new cmd heading: 332.878227 deg.

2025-06-05T16:47:49.744Z,1749142069.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809821 target range: 315.870056 and range: 318.40 m.
2025-06-05T16:47:50.123Z,1749142070.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.87 m.
2025-06-05T16:47:50.126Z,1749142070.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.870056 m,
      nav range: 300.979126 m,
      bearing: 340.010952 deg,
      approach rate: -0.696107 m/s,
      LOS rate: -0.004046 deg/s,
      cmd heading: 332.878230 deg,
      new cmd heading: 332.873333 deg.

2025-06-05T16:47:50.135Z,1749142070.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809736 target range: 315.870056 and range: 318.40 m.
2025-06-05T16:47:50.500Z,1749142070.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:50.502Z,1749142070.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.87 m.
2025-06-05T16:47:50.509Z,1749142070.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.870056 m,
      nav range: 300.713013 m,
      bearing: 340.011115 deg,
      approach rate: -0.703077 m/s,
      LOS rate: 0.000432 deg/s,
      cmd heading: 332.873340 deg,
      new cmd heading: 332.873831 deg.

2025-06-05T16:47:50.510Z,1749142070.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809744 target range: 315.870056 and range: 318.40 m.
2025-06-05T16:47:50.607Z,1749142070.607 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:50.607Z,1749142070.607 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:50.607Z,1749142070.607 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:50.859Z,1749142070.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501296
2025-06-05T16:47:50.863Z,1749142070.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.87 m.
2025-06-05T16:47:50.867Z,1749142070.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.870056 m,
      nav range: 300.453247 m,
      bearing: 340.011377 deg,
      approach rate: -0.718480 m/s,
      LOS rate: 0.000724 deg/s,
      cmd heading: 332.873832 deg,
      new cmd heading: 332.874617 deg.

2025-06-05T16:47:50.868Z,1749142070.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809758 target range: 315.870056 and range: 318.40 m.
2025-06-05T16:47:51.111Z,1749142071.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753242
2025-06-05T16:47:51.365Z,1749142071.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006663
2025-06-05T16:47:51.443Z,1749142071.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.87 m.
2025-06-05T16:47:51.451Z,1749142071.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.870056 m,
      nav range: 300.069244 m,
      bearing: 340.012685 deg,
      approach rate: -0.662520 m/s,
      LOS rate: 0.002260 deg/s,
      cmd heading: 332.874624 deg,
      new cmd heading: 332.878554 deg.

2025-06-05T16:47:51.452Z,1749142071.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809827 target range: 315.870056 and range: 318.40 m.
2025-06-05T16:47:51.615Z,1749142071.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257161
2025-06-05T16:47:51.806Z,1749142071.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.87 m.
2025-06-05T16:47:51.818Z,1749142071.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.870056 m,
      nav range: 299.813934 m,
      bearing: 340.013583 deg,
      approach rate: -0.703533 m/s,
      LOS rate: 0.002475 deg/s,
      cmd heading: 332.878558 deg,
      new cmd heading: 332.881253 deg.

2025-06-05T16:47:51.819Z,1749142071.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809874 target range: 315.870056 and range: 318.40 m.
2025-06-05T16:47:51.868Z,1749142071.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509753
2025-06-05T16:47:52.119Z,1749142072.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761420
2025-06-05T16:47:52.345Z,1749142072.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.87 m.
2025-06-05T16:47:52.356Z,1749142072.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.870056 m,
      nav range: 299.466583 m,
      bearing: 340.014825 deg,
      approach rate: -0.643914 m/s,
      LOS rate: 0.002306 deg/s,
      cmd heading: 332.881263 deg,
      new cmd heading: 332.884995 deg.

2025-06-05T16:47:52.357Z,1749142072.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809939 target range: 315.870056 and range: 318.40 m.
2025-06-05T16:47:52.372Z,1749142072.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013355
2025-06-05T16:47:52.625Z,1749142072.625 [DAT](INFO): DAT read: Rx Time:16:47:51.2802

2025-06-05T16:47:52.625Z,1749142072.625 [DAT](INFO): Rx dataTimestamp_ set to:1749142072.624974
2025-06-05T16:47:52.626Z,1749142072.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267946
2025-06-05T16:47:52.824Z,1749142072.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:52.831Z,1749142072.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.87 m.
2025-06-05T16:47:52.834Z,1749142072.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.870056 m,
      nav range: 299.126740 m,
      bearing: 340.017002 deg,
      approach rate: -0.706225 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 332.885006 deg,
      new cmd heading: 332.891543 deg.

2025-06-05T16:47:52.839Z,1749142072.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810053 target range: 315.870056 and range: 318.40 m.
2025-06-05T16:47:52.875Z,1749142072.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517568
2025-06-05T16:47:53.134Z,1749142073.134 [DAT](INFO): DAT read: 16:47:51.2802 LVL= 32400, 32753, 30450, 32755, AGC= 65, IDX= 258, 0.09, 0.068,-1.588,-0.138,-0.781, PHS= 0.937,-0.760, 0.640, RAW= 140.6, -10.4, CAL= 147.4, -20.2, ROT=   2.6,  20.2

2025-06-05T16:47:53.140Z,1749142073.140 [DAT](INFO): got valid direction response:
 16:47:51.2802 LVL= 32400, 32753, 30450, 32755, AGC= 65, IDX= 258, 0.09, 0.068,-1.588,-0.138,-0.781, PHS= 0.937,-0.760, 0.640, RAW= 140.6, -10.4, CAL= 147.4, -20.2, ROT=   2.6,  20.2

2025-06-05T16:47:53.141Z,1749142073.141 [DAT](INFO): DAT read: Bearing   2.6,  20.2 (Local)

2025-06-05T16:47:53.141Z,1749142073.141 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.6,  20.2 (Local)

2025-06-05T16:47:53.143Z,1749142073.143 [DAT](INFO): DAT read: Range 10 to 50 : 316.8 m  (Round-trip  422.4 ms) speed  0.8 m/s

2025-06-05T16:47:53.143Z,1749142073.143 [DAT](INFO): DAT read: user:2378>

2025-06-05T16:47:53.144Z,1749142073.144 [DAT](INFO): DAT read: Tx time:16:47:52.4037

2025-06-05T16:47:53.144Z,1749142073.144 [DAT](INFO): Ping request sent.
2025-06-05T16:47:53.144Z,1749142073.144 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:53.145Z,1749142073.145 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:47:53.215Z,1749142073.215 [DAT](INFO): direction in FSK: [0.937527,0.042573,-0.345298]
2025-06-05T16:47:53.215Z,1749142073.215 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:53.215Z,1749142073.215 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:53.235Z,1749142073.235 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:53.235Z,1749142073.235 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:53.333Z,1749142073.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 316.799988 m,
      deltaT: 3.787751 s,
      deltaX: -1.600006 m,
      approachRate: -0.422416 m/s,
      rangeRepo size: 4

2025-06-05T16:47:53.344Z,1749142073.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 314.293396 m,
      bearing: 336.827973 deg,
      lat: 36.906404 deg,
      lon: -122.115972 deg,
      deltaT: 3.787751 s,
      deltaX: -1.576660 m,
      approachRate: -0.416252 m/s,
      posRepo size: 4

2025-06-05T16:47:53.345Z,1749142073.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.29 m.
2025-06-05T16:47:53.356Z,1749142073.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.293396 m,
      nav range: 305.320404 m,
      bearing: 337.224361 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 332.891536 deg,
      new cmd heading: 332.898088 deg.

2025-06-05T16:47:53.357Z,1749142073.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810168 target range: 314.293396 and range: 316.80 m.
2025-06-05T16:47:53.379Z,1749142073.379 [DAT](INFO): DAT read: TxSync time:16:47:52.4029

2025-06-05T16:47:53.876Z,1749142073.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.29 m.
2025-06-05T16:47:53.881Z,1749142073.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.293396 m,
      nav range: 304.866821 m,
      bearing: 337.224051 deg,
      approach rate: -0.799517 m/s,
      LOS rate: -0.000547 deg/s,
      cmd heading: 332.898093 deg,
      new cmd heading: 332.897162 deg.

2025-06-05T16:47:53.882Z,1749142073.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810152 target range: 314.293396 and range: 316.80 m.
2025-06-05T16:47:54.226Z,1749142074.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.29 m.
2025-06-05T16:47:54.231Z,1749142074.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.293396 m,
      nav range: 304.645935 m,
      bearing: 337.223977 deg,
      approach rate: -0.661114 m/s,
      LOS rate: -0.000222 deg/s,
      cmd heading: 332.897164 deg,
      new cmd heading: 332.896941 deg.

2025-06-05T16:47:54.232Z,1749142074.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810148 target range: 314.293396 and range: 316.80 m.
2025-06-05T16:47:54.650Z,1749142074.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.29 m.
2025-06-05T16:47:54.653Z,1749142074.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.293396 m,
      nav range: 304.357208 m,
      bearing: 337.222915 deg,
      approach rate: -0.656505 m/s,
      LOS rate: -0.002416 deg/s,
      cmd heading: 332.896945 deg,
      new cmd heading: 332.893757 deg.

2025-06-05T16:47:54.654Z,1749142074.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810092 target range: 314.293396 and range: 316.80 m.
2025-06-05T16:47:55.078Z,1749142075.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:55.082Z,1749142075.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.29 m.
2025-06-05T16:47:55.085Z,1749142075.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.293396 m,
      nav range: 304.073151 m,
      bearing: 337.221913 deg,
      approach rate: -0.657713 m/s,
      LOS rate: -0.002322 deg/s,
      cmd heading: 332.893749 deg,
      new cmd heading: 332.890741 deg.

2025-06-05T16:47:55.086Z,1749142075.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810040 target range: 314.293396 and range: 316.80 m.
2025-06-05T16:47:55.143Z,1749142075.143 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:55.143Z,1749142075.143 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:55.144Z,1749142075.144 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:55.396Z,1749142075.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251346
2025-06-05T16:47:55.553Z,1749142075.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.29 m.
2025-06-05T16:47:55.566Z,1749142075.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.293396 m,
      nav range: 303.787354 m,
      bearing: 337.220625 deg,
      approach rate: -0.606628 m/s,
      LOS rate: -0.002737 deg/s,
      cmd heading: 332.890743 deg,
      new cmd heading: 332.886875 deg.

2025-06-05T16:47:55.567Z,1749142075.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809972 target range: 314.293396 and range: 316.80 m.
2025-06-05T16:47:55.649Z,1749142075.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504189
2025-06-05T16:47:55.899Z,1749142075.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754925
2025-06-05T16:47:55.901Z,1749142075.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.29 m.
2025-06-05T16:47:55.903Z,1749142075.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.293396 m,
      nav range: 303.548187 m,
      bearing: 337.219525 deg,
      approach rate: -0.687771 m/s,
      LOS rate: -0.003167 deg/s,
      cmd heading: 332.886864 deg,
      new cmd heading: 332.883560 deg.

2025-06-05T16:47:55.904Z,1749142075.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809914 target range: 314.293396 and range: 316.80 m.
2025-06-05T16:47:56.151Z,1749142076.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006754
2025-06-05T16:47:56.288Z,1749142076.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.29 m.
2025-06-05T16:47:56.292Z,1749142076.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.293396 m,
      nav range: 303.283813 m,
      bearing: 337.218308 deg,
      approach rate: -0.681847 m/s,
      LOS rate: -0.003142 deg/s,
      cmd heading: 332.883558 deg,
      new cmd heading: 332.879903 deg.

2025-06-05T16:47:56.293Z,1749142076.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809850 target range: 314.293396 and range: 316.80 m.
2025-06-05T16:47:56.403Z,1749142076.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259010
2025-06-05T16:47:56.659Z,1749142076.659 [DAT](INFO): DAT read: Rx Time:16:47:55.2110

2025-06-05T16:47:56.659Z,1749142076.659 [DAT](INFO): Rx dataTimestamp_ set to:1749142076.659027
2025-06-05T16:47:56.660Z,1749142076.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515519
2025-06-05T16:47:56.775Z,1749142076.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.29 m.
2025-06-05T16:47:56.779Z,1749142076.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.293396 m,
      nav range: 302.963165 m,
      bearing: 337.215472 deg,
      approach rate: -0.658277 m/s,
      LOS rate: -0.005827 deg/s,
      cmd heading: 332.879897 deg,
      new cmd heading: 332.871381 deg.

2025-06-05T16:47:56.781Z,1749142076.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809701 target range: 314.293396 and range: 316.80 m.
2025-06-05T16:47:56.907Z,1749142076.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762810
2025-06-05T16:47:57.132Z,1749142077.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:57.141Z,1749142077.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.29 m.
2025-06-05T16:47:57.144Z,1749142077.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.293396 m,
      nav range: 302.729156 m,
      bearing: 337.213408 deg,
      approach rate: -0.640451 m/s,
      LOS rate: -0.005654 deg/s,
      cmd heading: 332.871373 deg,
      new cmd heading: 332.865176 deg.

2025-06-05T16:47:57.145Z,1749142077.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809593 target range: 314.293396 and range: 316.80 m.
2025-06-05T16:47:57.166Z,1749142077.166 [DAT](INFO): DAT read: 16:47:55.2110 LVL= 20000, 22225, 19170, 24307, AGC= 68, IDX= 236, 0.44, 2.127, 0.973, 2.156, 1.325, PHS= 0.890,-0.305, 0.828, RAW= 147.3, -23.2, CAL= 152.1, -30.0, ROT= 357.9,  30.0

2025-06-05T16:47:57.167Z,1749142077.167 [DAT](INFO): got valid direction response:
 16:47:55.2110 LVL= 20000, 22225, 19170, 24307, AGC= 68, IDX= 236, 0.44, 2.127, 0.973, 2.156, 1.325, PHS= 0.890,-0.305, 0.828, RAW= 147.3, -23.2, CAL= 152.1, -30.0, ROT= 357.9,  30.0

2025-06-05T16:47:57.168Z,1749142077.168 [DAT](INFO): DAT read: Bearing 357.9,  30.0 (Local)

2025-06-05T16:47:57.169Z,1749142077.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,  30.0 (Local)

2025-06-05T16:47:57.170Z,1749142077.170 [DAT](INFO): DAT read: Range 10 to 50 : 302.4 m  (Round-trip  403.2 ms) speed  0.4 m/s

2025-06-05T16:47:57.171Z,1749142077.171 [DAT](INFO): DAT read: user:2379>

2025-06-05T16:47:57.172Z,1749142077.172 [DAT](INFO): DAT read: Tx time:16:47:56.3037

2025-06-05T16:47:57.172Z,1749142077.172 [DAT](INFO): Ping request sent.
2025-06-05T16:47:57.172Z,1749142077.172 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:47:57.172Z,1749142077.172 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:47:57.173Z,1749142077.173 [DAT](INFO): direction in FSK: [0.865444,-0.031734,-0.500000]
2025-06-05T16:47:57.174Z,1749142077.174 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:57.174Z,1749142077.174 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:57.177Z,1749142077.177 [DAT](INFO): publishing transmit ping time
2025-06-05T16:47:57.177Z,1749142077.177 [DAT](INFO): publishing direction and range info
2025-06-05T16:47:57.412Z,1749142077.412 [DAT](INFO): DAT read: TxSync time:16:47:56.3029

2025-06-05T16:47:57.716Z,1749142077.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 302.399994 m,
      deltaT: 4.031794 s,
      deltaX: -14.399994 m,
      approachRate: -3.571609 m/s,
      rangeRepo size: 4

2025-06-05T16:47:57.722Z,1749142077.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 300.016022 m,
      bearing: 332.949846 deg,
      lat: 36.906404 deg,
      lon: -122.116018 deg,
      deltaT: 4.031794 s,
      deltaX: -14.277374 m,
      approachRate: -3.541196 m/s,
      posRepo size: 4

2025-06-05T16:47:57.723Z,1749142077.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.02 m.
2025-06-05T16:47:57.725Z,1749142077.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.016022 m,
      nav range: 303.964874 m,
      bearing: 336.499603 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005654 deg/s,
      cmd heading: 332.865171 deg,
      new cmd heading: 332.855429 deg.

2025-06-05T16:47:57.744Z,1749142077.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809423 target range: 300.016022 and range: 302.40 m.
2025-06-05T16:47:58.004Z,1749142078.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.02 m.
2025-06-05T16:47:58.015Z,1749142078.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.016022 m,
      nav range: 303.768402 m,
      bearing: 336.497227 deg,
      approach rate: -0.681202 m/s,
      LOS rate: -0.008245 deg/s,
      cmd heading: 332.855418 deg,
      new cmd heading: 332.848284 deg.

2025-06-05T16:47:58.016Z,1749142078.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809299 target range: 300.016022 and range: 302.40 m.
2025-06-05T16:47:58.386Z,1749142078.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.02 m.
2025-06-05T16:47:58.409Z,1749142078.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.016022 m,
      nav range: 303.533142 m,
      bearing: 336.494377 deg,
      approach rate: -0.618076 m/s,
      LOS rate: -0.007493 deg/s,
      cmd heading: 332.848287 deg,
      new cmd heading: 332.839731 deg.

2025-06-05T16:47:58.423Z,1749142078.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809149 target range: 300.016022 and range: 302.40 m.
2025-06-05T16:47:58.769Z,1749142078.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.02 m.
2025-06-05T16:47:58.772Z,1749142078.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.016022 m,
      nav range: 303.255066 m,
      bearing: 336.490532 deg,
      approach rate: -0.722860 m/s,
      LOS rate: -0.010004 deg/s,
      cmd heading: 332.839735 deg,
      new cmd heading: 332.828190 deg.

2025-06-05T16:47:58.773Z,1749142078.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808948 target range: 300.016022 and range: 302.40 m.
2025-06-05T16:47:59.182Z,1749142079.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:47:59.184Z,1749142079.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.02 m.
2025-06-05T16:47:59.210Z,1749142079.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.016022 m,
      nav range: 303.002808 m,
      bearing: 336.486965 deg,
      approach rate: -0.607891 m/s,
      LOS rate: -0.008602 deg/s,
      cmd heading: 332.828179 deg,
      new cmd heading: 332.817470 deg.

2025-06-05T16:47:59.211Z,1749142079.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808761 target range: 300.016022 and range: 302.40 m.
2025-06-05T16:47:59.428Z,1749142079.428 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:47:59.428Z,1749142079.428 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:47:59.428Z,1749142079.428 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:47:59.588Z,1749142079.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.02 m.
2025-06-05T16:47:59.592Z,1749142079.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.016022 m,
      nav range: 302.699768 m,
      bearing: 336.482628 deg,
      approach rate: -0.749287 m/s,
      LOS rate: -0.010736 deg/s,
      cmd heading: 332.817469 deg,
      new cmd heading: 332.804443 deg.

2025-06-05T16:47:59.593Z,1749142079.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808533 target range: 300.016022 and range: 302.40 m.
2025-06-05T16:47:59.681Z,1749142079.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508498
2025-06-05T16:47:59.931Z,1749142079.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759341
2025-06-05T16:47:59.942Z,1749142079.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.02 m.
2025-06-05T16:47:59.947Z,1749142079.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.016022 m,
      nav range: 302.457672 m,
      bearing: 336.479125 deg,
      approach rate: -0.684113 m/s,
      LOS rate: -0.009904 deg/s,
      cmd heading: 332.804437 deg,
      new cmd heading: 332.793922 deg.

2025-06-05T16:47:59.948Z,1749142079.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808350 target range: 300.016022 and range: 302.40 m.
2025-06-05T16:48:00.185Z,1749142080.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012556
2025-06-05T16:48:00.365Z,1749142080.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.02 m.
2025-06-05T16:48:00.381Z,1749142080.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.016022 m,
      nav range: 302.185333 m,
      bearing: 336.475165 deg,
      approach rate: -0.646287 m/s,
      LOS rate: -0.009407 deg/s,
      cmd heading: 332.793919 deg,
      new cmd heading: 332.782026 deg.

2025-06-05T16:48:00.382Z,1749142080.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808142 target range: 300.016022 and range: 302.40 m.
2025-06-05T16:48:00.439Z,1749142080.439 [DAT](INFO): DAT read: Rx Time:16:47:59.1080

2025-06-05T16:48:00.441Z,1749142080.441 [DAT](INFO): Rx dataTimestamp_ set to:1749142080.439798
2025-06-05T16:48:00.443Z,1749142080.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270761
2025-06-05T16:48:00.691Z,1749142080.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518150
2025-06-05T16:48:00.793Z,1749142080.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.02 m.
2025-06-05T16:48:00.800Z,1749142080.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.016022 m,
      nav range: 301.891327 m,
      bearing: 336.470933 deg,
      approach rate: -0.684664 m/s,
      LOS rate: -0.009865 deg/s,
      cmd heading: 332.782034 deg,
      new cmd heading: 332.769326 deg.

2025-06-05T16:48:00.801Z,1749142080.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807920 target range: 300.016022 and range: 302.40 m.
2025-06-05T16:48:00.945Z,1749142080.945 [DAT](INFO): DAT read: 16:47:59.1080 LVL= 20320, 29745, 19570, 32131, AGC= 68, IDX= 413, 0.49, 1.699,-0.103, 1.328, 0.771, PHS= 1.015,-0.827, 0.554, RAW= 136.1,  -9.0, CAL= 142.1, -20.1, ROT=   7.9,  20.1

2025-06-05T16:48:00.948Z,1749142080.948 [DAT](INFO): got valid direction response:
 16:47:59.1080 LVL= 20320, 29745, 19570, 32131, AGC= 68, IDX= 413, 0.49, 1.699,-0.103, 1.328, 0.771, PHS= 1.015,-0.827, 0.554, RAW= 136.1,  -9.0, CAL= 142.1, -20.1, ROT=   7.9,  20.1

2025-06-05T16:48:00.949Z,1749142080.949 [DAT](INFO): DAT read: Bearing   7.9,  20.1 (Local)

2025-06-05T16:48:00.949Z,1749142080.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.9,  20.1 (Local)

2025-06-05T16:48:00.951Z,1749142080.951 [DAT](INFO): DAT read: Range 10 to 50 : 300.0 m  (Round-trip  400.1 ms) speed  0.4 m/s

2025-06-05T16:48:00.951Z,1749142080.951 [DAT](INFO): DAT read: user:2380>

2025-06-05T16:48:00.952Z,1749142080.952 [DAT](INFO): DAT read: Tx time:16:48:00.2037

2025-06-05T16:48:00.952Z,1749142080.952 [DAT](INFO): Ping request sent.
2025-06-05T16:48:00.952Z,1749142080.952 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:00.953Z,1749142080.953 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:48:00.954Z,1749142080.954 [DAT](INFO): direction in FSK: [0.930182,0.129073,-0.343660]
2025-06-05T16:48:00.954Z,1749142080.954 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:00.954Z,1749142080.954 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:00.957Z,1749142080.957 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:00.957Z,1749142080.957 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:01.191Z,1749142081.191 [DAT](INFO): DAT read: TxSync time:16:48:00.2029

2025-06-05T16:48:01.223Z,1749142081.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 300.000000 m,
      deltaT: 3.780342 s,
      deltaX: -2.399994 m,
      approachRate: -0.634862 m/s,
      rangeRepo size: 4

2025-06-05T16:48:01.225Z,1749142081.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 297.634613 m,
      bearing: 341.901724 deg,
      lat: 36.906407 deg,
      lon: -122.116018 deg,
      deltaT: 3.780342 s,
      deltaX: -2.381409 m,
      approachRate: -0.629945 m/s,
      posRepo size: 4

2025-06-05T16:48:01.226Z,1749142081.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.63 m.
2025-06-05T16:48:01.237Z,1749142081.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.634613 m,
      nav range: 301.846283 m,
      bearing: 336.486622 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009865 deg/s,
      cmd heading: 332.769330 deg,
      new cmd heading: 332.756983 deg.

2025-06-05T16:48:01.238Z,1749142081.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807705 target range: 297.634613 and range: 300.00 m.
2025-06-05T16:48:01.707Z,1749142081.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:01.709Z,1749142081.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.63 m.
2025-06-05T16:48:01.720Z,1749142081.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.634613 m,
      nav range: 301.510071 m,
      bearing: 336.482071 deg,
      approach rate: -0.674254 m/s,
      LOS rate: -0.009137 deg/s,
      cmd heading: 332.756981 deg,
      new cmd heading: 332.743312 deg.

2025-06-05T16:48:01.721Z,1749142081.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807467 target range: 297.634613 and range: 300.00 m.
2025-06-05T16:48:01.948Z,1749142081.948 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:01.948Z,1749142081.948 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:01.948Z,1749142081.948 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:02.067Z,1749142082.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.63 m.
2025-06-05T16:48:02.069Z,1749142082.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.634613 m,
      nav range: 301.246185 m,
      bearing: 336.478468 deg,
      approach rate: -0.738616 m/s,
      LOS rate: -0.010094 deg/s,
      cmd heading: 332.743321 deg,
      new cmd heading: 332.732502 deg.

2025-06-05T16:48:02.071Z,1749142082.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807278 target range: 297.634613 and range: 300.00 m.
2025-06-05T16:48:02.200Z,1749142082.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247179
2025-06-05T16:48:02.454Z,1749142082.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501297
2025-06-05T16:48:02.583Z,1749142082.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.63 m.
2025-06-05T16:48:02.599Z,1749142082.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.634613 m,
      nav range: 300.922729 m,
      bearing: 336.474931 deg,
      approach rate: -0.633309 m/s,
      LOS rate: -0.006933 deg/s,
      cmd heading: 332.732501 deg,
      new cmd heading: 332.721878 deg.

2025-06-05T16:48:02.600Z,1749142082.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807092 target range: 297.634613 and range: 300.00 m.
2025-06-05T16:48:02.703Z,1749142082.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750849
2025-06-05T16:48:02.955Z,1749142082.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002685
2025-06-05T16:48:02.999Z,1749142082.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.63 m.
2025-06-05T16:48:03.002Z,1749142083.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.634613 m,
      nav range: 300.619598 m,
      bearing: 336.471609 deg,
      approach rate: -0.717423 m/s,
      LOS rate: -0.007869 deg/s,
      cmd heading: 332.721874 deg,
      new cmd heading: 332.711899 deg.

2025-06-05T16:48:03.003Z,1749142083.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806918 target range: 297.634613 and range: 300.00 m.
2025-06-05T16:48:03.210Z,1749142083.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257802
2025-06-05T16:48:03.366Z,1749142083.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.63 m.
2025-06-05T16:48:03.369Z,1749142083.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.634613 m,
      nav range: 300.372375 m,
      bearing: 336.469036 deg,
      approach rate: -0.674310 m/s,
      LOS rate: -0.007026 deg/s,
      cmd heading: 332.711902 deg,
      new cmd heading: 332.704174 deg.

2025-06-05T16:48:03.370Z,1749142083.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806783 target range: 297.634613 and range: 300.00 m.
2025-06-05T16:48:03.462Z,1749142083.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509128
2025-06-05T16:48:03.712Z,1749142083.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758887
2025-06-05T16:48:03.877Z,1749142083.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:03.882Z,1749142083.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.63 m.
2025-06-05T16:48:03.884Z,1749142083.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.634613 m,
      nav range: 300.028107 m,
      bearing: 336.465839 deg,
      approach rate: -0.667896 m/s,
      LOS rate: -0.006208 deg/s,
      cmd heading: 332.704170 deg,
      new cmd heading: 332.694570 deg.

2025-06-05T16:48:03.885Z,1749142083.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806616 target range: 297.634613 and range: 300.00 m.
2025-06-05T16:48:03.964Z,1749142083.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011843
2025-06-05T16:48:04.218Z,1749142084.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265888
2025-06-05T16:48:04.357Z,1749142084.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.63 m.
2025-06-05T16:48:04.365Z,1749142084.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.634613 m,
      nav range: 299.711823 m,
      bearing: 336.462803 deg,
      approach rate: -0.665256 m/s,
      LOS rate: -0.006394 deg/s,
      cmd heading: 332.694580 deg,
      new cmd heading: 332.685461 deg.

2025-06-05T16:48:04.366Z,1749142084.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806457 target range: 297.634613 and range: 300.00 m.
2025-06-05T16:48:04.471Z,1749142084.471 [DAT](INFO): DAT read: Rx Time:16:48:03.0200

2025-06-05T16:48:04.472Z,1749142084.472 [DAT](INFO): Rx dataTimestamp_ set to:1749142084.471321
2025-06-05T16:48:04.474Z,1749142084.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521039
2025-06-05T16:48:04.719Z,1749142084.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766882
2025-06-05T16:48:04.923Z,1749142084.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.63 m.
2025-06-05T16:48:04.926Z,1749142084.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.634613 m,
      nav range: 299.332855 m,
      bearing: 336.458372 deg,
      approach rate: -0.669028 m/s,
      LOS rate: -0.007832 deg/s,
      cmd heading: 332.685455 deg,
      new cmd heading: 332.672145 deg.

2025-06-05T16:48:04.927Z,1749142084.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806224 target range: 297.634613 and range: 300.00 m.
2025-06-05T16:48:04.995Z,1749142084.995 [DAT](INFO): DAT read: 16:48:03.0200 LVL= 16144, 24625, 15554, 22899, AGC= 69, IDX=  56, 0.10,-2.500, 2.216,-2.570, 2.839, PHS= 1.032,-0.576, 0.871, RAW= 144.8, -17.0, CAL= 150.8, -24.9, ROT= 359.2,  24.9

2025-06-05T16:48:04.997Z,1749142084.997 [DAT](INFO): got valid direction response:
 16:48:03.0200 LVL= 16144, 24625, 15554, 22899, AGC= 69, IDX=  56, 0.10,-2.500, 2.216,-2.570, 2.839, PHS= 1.032,-0.576, 0.871, RAW= 144.8, -17.0, CAL= 150.8, -24.9, ROT= 359.2,  24.9

2025-06-05T16:48:04.998Z,1749142084.998 [DAT](INFO): DAT read: Bearing 359.2,  24.9 (Local)

2025-06-05T16:48:05.015Z,1749142085.015 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  24.9 (Local)

2025-06-05T16:48:05.023Z,1749142085.023 [DAT](INFO): DAT read: Range 10 to 50 : 309.1 m  (Round-trip  412.2 ms) speed  0.6 m/s

2025-06-05T16:48:05.024Z,1749142085.024 [DAT](INFO): DAT read: user:2381>

2025-06-05T16:48:05.024Z,1749142085.024 [DAT](INFO): DAT read: Tx time:16:48:04.1037

2025-06-05T16:48:05.025Z,1749142085.025 [DAT](INFO): Ping request sent.
2025-06-05T16:48:05.025Z,1749142085.025 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:05.025Z,1749142085.025 [DAT](INFO): DAT read: TxSync time:16:48:04.1029

2025-06-05T16:48:05.026Z,1749142085.026 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:48:05.034Z,1749142085.034 [DAT](INFO): direction in FSK: [0.906956,-0.012664,-0.421036]
2025-06-05T16:48:05.054Z,1749142085.054 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:05.055Z,1749142085.055 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:05.058Z,1749142085.058 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:05.058Z,1749142085.058 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:05.573Z,1749142085.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 309.100006 m,
      deltaT: 4.032638 s,
      deltaX: 9.100006 m,
      approachRate: 2.256589 m/s,
      rangeRepo size: 4

2025-06-05T16:48:05.579Z,1749142085.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 306.654510 m,
      bearing: 333.949300 deg,
      lat: 36.906407 deg,
      lon: -122.116018 deg,
      deltaT: 4.032638 s,
      deltaX: 9.019897 m,
      approachRate: 2.236724 m/s,
      posRepo size: 4

2025-06-05T16:48:05.580Z,1749142085.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.65 m.
2025-06-05T16:48:05.586Z,1749142085.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.654510 m,
      nav range: 298.924805 m,
      bearing: 336.453524 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007832 deg/s,
      cmd heading: 332.672150 deg,
      new cmd heading: 332.656911 deg.

2025-06-05T16:48:05.587Z,1749142085.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805958 target range: 306.654510 and range: 309.10 m.
2025-06-05T16:48:05.948Z,1749142085.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:05.950Z,1749142085.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.65 m.
2025-06-05T16:48:05.957Z,1749142085.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.654510 m,
      nav range: 298.674194 m,
      bearing: 336.450104 deg,
      approach rate: -0.663238 m/s,
      LOS rate: -0.009057 deg/s,
      cmd heading: 332.656905 deg,
      new cmd heading: 332.646639 deg.

2025-06-05T16:48:05.958Z,1749142085.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805779 target range: 306.654510 and range: 309.10 m.
2025-06-05T16:48:05.980Z,1749142085.980 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:05.980Z,1749142085.980 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:05.981Z,1749142085.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:06.231Z,1749142086.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206590
2025-06-05T16:48:06.308Z,1749142086.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.65 m.
2025-06-05T16:48:06.311Z,1749142086.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.654510 m,
      nav range: 298.425018 m,
      bearing: 336.446608 deg,
      approach rate: -0.694718 m/s,
      LOS rate: -0.009756 deg/s,
      cmd heading: 332.646632 deg,
      new cmd heading: 332.636134 deg.

2025-06-05T16:48:06.314Z,1749142086.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805596 target range: 306.654510 and range: 309.10 m.
2025-06-05T16:48:06.486Z,1749142086.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460939
2025-06-05T16:48:06.735Z,1749142086.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710413
2025-06-05T16:48:06.753Z,1749142086.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.65 m.
2025-06-05T16:48:06.756Z,1749142086.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.654510 m,
      nav range: 298.134094 m,
      bearing: 336.442050 deg,
      approach rate: -0.654618 m/s,
      LOS rate: -0.010266 deg/s,
      cmd heading: 332.636141 deg,
      new cmd heading: 332.622454 deg.

2025-06-05T16:48:06.757Z,1749142086.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805357 target range: 306.654510 and range: 309.10 m.
2025-06-05T16:48:06.987Z,1749142086.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962436
2025-06-05T16:48:07.104Z,1749142087.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.65 m.
2025-06-05T16:48:07.107Z,1749142087.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.654510 m,
      nav range: 297.902832 m,
      bearing: 336.438329 deg,
      approach rate: -0.657980 m/s,
      LOS rate: -0.010596 deg/s,
      cmd heading: 332.622453 deg,
      new cmd heading: 332.611280 deg.

2025-06-05T16:48:07.108Z,1749142087.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805162 target range: 306.654510 and range: 309.10 m.
2025-06-05T16:48:07.239Z,1749142087.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214584
2025-06-05T16:48:07.494Z,1749142087.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468681
2025-06-05T16:48:07.612Z,1749142087.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.65 m.
2025-06-05T16:48:07.615Z,1749142087.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.654510 m,
      nav range: 297.568726 m,
      bearing: 336.432068 deg,
      approach rate: -0.657547 m/s,
      LOS rate: -0.012336 deg/s,
      cmd heading: 332.611279 deg,
      new cmd heading: 332.592475 deg.

2025-06-05T16:48:07.616Z,1749142087.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804834 target range: 306.654510 and range: 309.10 m.
2025-06-05T16:48:07.743Z,1749142087.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718674
2025-06-05T16:48:07.996Z,1749142087.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971236
2025-06-05T16:48:08.103Z,1749142088.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:08.105Z,1749142088.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.65 m.
2025-06-05T16:48:08.108Z,1749142088.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.654510 m,
      nav range: 297.243225 m,
      bearing: 336.425924 deg,
      approach rate: -0.660589 m/s,
      LOS rate: -0.012482 deg/s,
      cmd heading: 332.592483 deg,
      new cmd heading: 332.574031 deg.

2025-06-05T16:48:08.109Z,1749142088.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804512 target range: 306.654510 and range: 309.10 m.
2025-06-05T16:48:08.248Z,1749142088.248 [DAT](INFO): DAT read: Rx Time:16:48:06.9012

2025-06-05T16:48:08.248Z,1749142088.248 [DAT](INFO): Rx dataTimestamp_ set to:1749142088.247968
2025-06-05T16:48:08.249Z,1749142088.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224093
2025-06-05T16:48:08.499Z,1749142088.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474402
2025-06-05T16:48:08.576Z,1749142088.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.65 m.
2025-06-05T16:48:08.584Z,1749142088.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.654510 m,
      nav range: 296.975342 m,
      bearing: 336.420853 deg,
      approach rate: -0.575987 m/s,
      LOS rate: -0.010912 deg/s,
      cmd heading: 332.574041 deg,
      new cmd heading: 332.558816 deg.

2025-06-05T16:48:08.591Z,1749142088.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804246 target range: 306.654510 and range: 309.10 m.
2025-06-05T16:48:08.757Z,1749142088.757 [DAT](INFO): DAT read: 16:48:06.9013 LVL= 22960, 24177, 21746, 32755, AGC= 69, IDX= 413, 0.04,-2.183, 2.901,-2.251,-2.906, PHS= 0.812,-0.429, 0.652, RAW= 143.2, -17.4, CAL= 149.2, -25.3, ROT=   0.8,  25.3

2025-06-05T16:48:08.759Z,1749142088.759 [DAT](INFO): got valid direction response:
 16:48:06.9013 LVL= 22960, 24177, 21746, 32755, AGC= 69, IDX= 413, 0.04,-2.183, 2.901,-2.251,-2.906, PHS= 0.812,-0.429, 0.652, RAW= 143.2, -17.4, CAL= 149.2, -25.3, ROT=   0.8,  25.3

2025-06-05T16:48:08.760Z,1749142088.760 [DAT](INFO): DAT read: Bearing   0.8,  25.3 (Local)

2025-06-05T16:48:08.761Z,1749142088.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8,  25.3 (Local)

2025-06-05T16:48:08.765Z,1749142088.765 [DAT](INFO): DAT read: Range 10 to 50 : 295.0 m  (Round-trip  393.4 ms) speed  0.4 m/s

2025-06-05T16:48:08.766Z,1749142088.766 [DAT](INFO): DAT read: user:2382>

2025-06-05T16:48:08.767Z,1749142088.767 [DAT](INFO): DAT read: Tx time:16:48:08.0038

2025-06-05T16:48:08.767Z,1749142088.767 [DAT](INFO): Ping request sent.
2025-06-05T16:48:08.767Z,1749142088.767 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:08.768Z,1749142088.768 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:48:08.768Z,1749142088.768 [DAT](INFO): direction in FSK: [0.903994,0.012623,-0.427358]
2025-06-05T16:48:08.769Z,1749142088.769 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:08.769Z,1749142088.769 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:08.772Z,1749142088.772 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:08.773Z,1749142088.773 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:09.003Z,1749142089.003 [DAT](INFO): DAT read: TxSync time:16:48:08.0030

2025-06-05T16:48:09.226Z,1749142089.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 295.000000 m,
      deltaT: 3.779399 s,
      deltaX: -14.100006 m,
      approachRate: -3.730753 m/s,
      rangeRepo size: 4

2025-06-05T16:48:09.229Z,1749142089.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 292.659363 m,
      bearing: 335.964177 deg,
      lat: 36.906285 deg,
      lon: -122.116018 deg,
      deltaT: 3.779399 s,
      deltaX: -13.995148 m,
      approachRate: -3.703009 m/s,
      posRepo size: 4

2025-06-05T16:48:09.235Z,1749142089.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.66 m.
2025-06-05T16:48:09.237Z,1749142089.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.659363 m,
      nav range: 284.135864 m,
      bearing: 335.316545 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010912 deg/s,
      cmd heading: 332.558823 deg,
      new cmd heading: 332.537508 deg.

2025-06-05T16:48:09.243Z,1749142089.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803874 target range: 292.659363 and range: 295.00 m.
2025-06-05T16:48:09.721Z,1749142089.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.66 m.
2025-06-05T16:48:09.723Z,1749142089.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.659363 m,
      nav range: 283.770538 m,
      bearing: 335.308206 deg,
      approach rate: -0.731870 m/s,
      LOS rate: -0.016728 deg/s,
      cmd heading: 332.537513 deg,
      new cmd heading: 332.512463 deg.

2025-06-05T16:48:09.724Z,1749142089.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803437 target range: 292.659363 and range: 295.00 m.
2025-06-05T16:48:10.089Z,1749142090.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.66 m.
2025-06-05T16:48:10.092Z,1749142090.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.659363 m,
      nav range: 283.518951 m,
      bearing: 335.302463 deg,
      approach rate: -0.682399 m/s,
      LOS rate: -0.015591 deg/s,
      cmd heading: 332.512460 deg,
      new cmd heading: 332.495216 deg.

2025-06-05T16:48:10.093Z,1749142090.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803136 target range: 292.659363 and range: 295.00 m.
2025-06-05T16:48:10.487Z,1749142090.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:10.489Z,1749142090.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.66 m.
2025-06-05T16:48:10.492Z,1749142090.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.659363 m,
      nav range: 283.243896 m,
      bearing: 335.296220 deg,
      approach rate: -0.688190 m/s,
      LOS rate: -0.015634 deg/s,
      cmd heading: 332.495221 deg,
      new cmd heading: 332.476475 deg.

2025-06-05T16:48:10.493Z,1749142090.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802809 target range: 292.659363 and range: 295.00 m.
2025-06-05T16:48:10.515Z,1749142090.515 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:10.515Z,1749142090.515 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:10.515Z,1749142090.515 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:10.767Z,1749142090.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000062
2025-06-05T16:48:10.955Z,1749142090.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.66 m.
2025-06-05T16:48:10.957Z,1749142090.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.659363 m,
      nav range: 282.924408 m,
      bearing: 335.288066 deg,
      approach rate: -0.685813 m/s,
      LOS rate: -0.017524 deg/s,
      cmd heading: 332.476479 deg,
      new cmd heading: 332.451988 deg.

2025-06-05T16:48:10.959Z,1749142090.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802382 target range: 292.659363 and range: 295.00 m.
2025-06-05T16:48:11.019Z,1749142091.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252082
2025-06-05T16:48:11.275Z,1749142091.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508023
2025-06-05T16:48:11.354Z,1749142091.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.66 m.
2025-06-05T16:48:11.360Z,1749142091.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.659363 m,
      nav range: 282.654907 m,
      bearing: 335.281170 deg,
      approach rate: -0.675806 m/s,
      LOS rate: -0.017310 deg/s,
      cmd heading: 332.451999 deg,
      new cmd heading: 332.431290 deg.

2025-06-05T16:48:11.361Z,1749142091.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802021 target range: 292.659363 and range: 295.00 m.
2025-06-05T16:48:11.528Z,1749142091.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760429
2025-06-05T16:48:11.768Z,1749142091.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.66 m.
2025-06-05T16:48:11.775Z,1749142091.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.659363 m,
      nav range: 282.378052 m,
      bearing: 335.273793 deg,
      approach rate: -0.667830 m/s,
      LOS rate: -0.017812 deg/s,
      cmd heading: 332.431290 deg,
      new cmd heading: 332.409138 deg.

2025-06-05T16:48:11.776Z,1749142091.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801634 target range: 292.659363 and range: 295.00 m.
2025-06-05T16:48:11.779Z,1749142091.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011921
2025-06-05T16:48:12.031Z,1749142092.031 [DAT](INFO): DAT read: Rx Time:16:48:10.7985

2025-06-05T16:48:12.032Z,1749142092.032 [DAT](INFO): Rx dataTimestamp_ set to:1749142092.031542
2025-06-05T16:48:12.032Z,1749142092.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265117
2025-06-05T16:48:12.119Z,1749142092.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.66 m.
2025-06-05T16:48:12.122Z,1749142092.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.659363 m,
      nav range: 282.119507 m,
      bearing: 335.266933 deg,
      approach rate: -0.736727 m/s,
      LOS rate: -0.019564 deg/s,
      cmd heading: 332.409133 deg,
      new cmd heading: 332.388536 deg.

2025-06-05T16:48:12.123Z,1749142092.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801274 target range: 292.659363 and range: 295.00 m.
2025-06-05T16:48:12.283Z,1749142092.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516054
2025-06-05T16:48:12.536Z,1749142092.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768836
2025-06-05T16:48:12.539Z,1749142092.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:12.543Z,1749142092.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.66 m.
2025-06-05T16:48:12.552Z,1749142092.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.659363 m,
      nav range: 281.836609 m,
      bearing: 335.259414 deg,
      approach rate: -0.668240 m/s,
      LOS rate: -0.017780 deg/s,
      cmd heading: 332.388533 deg,
      new cmd heading: 332.365952 deg.

2025-06-05T16:48:12.554Z,1749142092.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800880 target range: 292.659363 and range: 295.00 m.
2025-06-05T16:48:12.793Z,1749142092.793 [DAT](INFO): DAT read: 16:48:10.7985 LVL= 17776, 32753, 16690, 30899, AGC= 67, IDX= 412,-0.45,-1.352,-2.800,-1.615,-2.079, PHS= 0.815,-0.674, 0.461, RAW= 136.9,  -9.0, CAL= 143.0, -19.9, ROT=   7.0,  19.9

2025-06-05T16:48:12.794Z,1749142092.794 [DAT](INFO): got valid direction response:
 16:48:10.7985 LVL= 17776, 32753, 16690, 30899, AGC= 67, IDX= 412,-0.45,-1.352,-2.800,-1.615,-2.079, PHS= 0.815,-0.674, 0.461, RAW= 136.9,  -9.0, CAL= 143.0, -19.9, ROT=   7.0,  19.9

2025-06-05T16:48:12.795Z,1749142092.795 [DAT](INFO): DAT read: Bearing   7.0,  19.9 (Local)

2025-06-05T16:48:12.795Z,1749142092.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.0,  19.9 (Local)

2025-06-05T16:48:12.797Z,1749142092.797 [DAT](INFO): DAT read: Range 10 to 50 : 292.9 m  (Round-trip  390.6 ms) speed  0.4 m/s

2025-06-05T16:48:12.798Z,1749142092.798 [DAT](INFO): DAT read: user:2383>

2025-06-05T16:48:12.801Z,1749142092.801 [DAT](INFO): DAT read: Tx time:16:48:11.9038

2025-06-05T16:48:12.802Z,1749142092.802 [DAT](INFO): Ping request sent.
2025-06-05T16:48:12.803Z,1749142092.803 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:12.803Z,1749142092.803 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:48:12.805Z,1749142092.805 [DAT](INFO): direction in FSK: [0.933279,0.114592,-0.340380]
2025-06-05T16:48:12.805Z,1749142092.805 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:12.805Z,1749142092.805 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:12.813Z,1749142092.813 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:12.813Z,1749142092.813 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:13.047Z,1749142093.047 [DAT](INFO): DAT read: TxSync time:16:48:11.9030

2025-06-05T16:48:13.104Z,1749142093.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 292.899994 m,
      deltaT: 4.035905 s,
      deltaX: -2.100006 m,
      approachRate: -0.520331 m/s,
      rangeRepo size: 4

2025-06-05T16:48:13.114Z,1749142093.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 290.572357 m,
      bearing: 341.388023 deg,
      lat: 36.906285 deg,
      lon: -122.115939 deg,
      deltaT: 4.035905 s,
      deltaX: -2.087006 m,
      approachRate: -0.517110 m/s,
      posRepo size: 4

2025-06-05T16:48:13.115Z,1749142093.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:13.118Z,1749142093.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 278.623535 m,
      bearing: 336.558429 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017780 deg/s,
      cmd heading: 332.365939 deg,
      new cmd heading: 332.336027 deg.

2025-06-05T16:48:13.123Z,1749142093.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800358 target range: 290.572357 and range: 292.90 m.
2025-06-05T16:48:13.656Z,1749142093.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:13.665Z,1749142093.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 278.207611 m,
      bearing: 336.550626 deg,
      approach rate: -0.752042 m/s,
      LOS rate: -0.014130 deg/s,
      cmd heading: 332.336023 deg,
      new cmd heading: 332.312578 deg.

2025-06-05T16:48:13.666Z,1749142093.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799949 target range: 290.572357 and range: 292.90 m.
2025-06-05T16:48:14.184Z,1749142094.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:14.187Z,1749142094.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 277.848022 m,
      bearing: 336.544769 deg,
      approach rate: -0.681546 m/s,
      LOS rate: -0.011115 deg/s,
      cmd heading: 332.312581 deg,
      new cmd heading: 332.294988 deg.

2025-06-05T16:48:14.188Z,1749142094.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799642 target range: 290.572357 and range: 292.90 m.
2025-06-05T16:48:14.698Z,1749142094.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:14.711Z,1749142094.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:14.719Z,1749142094.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 277.515930 m,
      bearing: 336.539267 deg,
      approach rate: -0.635550 m/s,
      LOS rate: -0.010542 deg/s,
      cmd heading: 332.294987 deg,
      new cmd heading: 332.278462 deg.

2025-06-05T16:48:14.723Z,1749142094.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799353 target range: 290.572357 and range: 292.90 m.
2025-06-05T16:48:14.807Z,1749142094.807 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:14.807Z,1749142094.807 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:14.807Z,1749142094.807 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:15.059Z,1749142095.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257223
2025-06-05T16:48:15.067Z,1749142095.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:15.069Z,1749142095.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 277.274200 m,
      bearing: 336.536574 deg,
      approach rate: -0.670970 m/s,
      LOS rate: -0.007482 deg/s,
      cmd heading: 332.278458 deg,
      new cmd heading: 332.270371 deg.

2025-06-05T16:48:15.075Z,1749142095.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799212 target range: 290.572357 and range: 292.90 m.
2025-06-05T16:48:15.311Z,1749142095.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509728
2025-06-05T16:48:15.426Z,1749142095.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:15.447Z,1749142095.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 277.029999 m,
      bearing: 336.533832 deg,
      approach rate: -0.679650 m/s,
      LOS rate: -0.007639 deg/s,
      cmd heading: 332.270371 deg,
      new cmd heading: 332.262137 deg.

2025-06-05T16:48:15.448Z,1749142095.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799068 target range: 290.572357 and range: 292.90 m.
2025-06-05T16:48:15.564Z,1749142095.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762151
2025-06-05T16:48:15.817Z,1749142095.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014742
2025-06-05T16:48:15.913Z,1749142095.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:15.929Z,1749142095.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 276.734253 m,
      bearing: 336.530163 deg,
      approach rate: -0.608680 m/s,
      LOS rate: -0.007560 deg/s,
      cmd heading: 332.262147 deg,
      new cmd heading: 332.251128 deg.

2025-06-05T16:48:15.935Z,1749142095.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798876 target range: 290.572357 and range: 292.90 m.
2025-06-05T16:48:16.068Z,1749142096.068 [DAT](INFO): DAT read: Rx Time:16:48:14.7110

2025-06-05T16:48:16.069Z,1749142096.069 [DAT](INFO): Rx dataTimestamp_ set to:1749142096.068372
2025-06-05T16:48:16.070Z,1749142096.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267873
2025-06-05T16:48:16.319Z,1749142096.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517437
2025-06-05T16:48:16.388Z,1749142096.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:16.391Z,1749142096.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 276.418610 m,
      bearing: 336.526269 deg,
      approach rate: -0.662287 m/s,
      LOS rate: -0.008178 deg/s,
      cmd heading: 332.251137 deg,
      new cmd heading: 332.239444 deg.

2025-06-05T16:48:16.392Z,1749142096.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798672 target range: 290.572357 and range: 292.90 m.
2025-06-05T16:48:16.572Z,1749142096.572 [DAT](INFO): DAT read: Range 10 to 50 : 302.3 m  (Round-trip  403.1 ms) speed  0.4 m/s

2025-06-05T16:48:16.573Z,1749142096.573 [DAT](INFO): DAT read: user:2384>

2025-06-05T16:48:16.574Z,1749142096.574 [DAT](INFO): DAT read: Tx time:16:48:15.8038

2025-06-05T16:48:16.579Z,1749142096.579 [DAT](INFO): Ping request sent.
2025-06-05T16:48:16.579Z,1749142096.579 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:16.580Z,1749142096.580 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:48:16.581Z,1749142096.581 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:16.581Z,1749142096.581 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:16.702Z,1749142096.702 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:48:16.825Z,1749142096.825 [DAT](INFO): DAT read: TxSync time:16:48:15.8030

2025-06-05T16:48:16.840Z,1749142096.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:16.843Z,1749142096.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 302.299988 m,
      deltaT: 3.784097 s,
      deltaX: 9.399994 m,
      approachRate: 2.484078 m/s,
      rangeRepo size: 4

2025-06-05T16:48:16.844Z,1749142096.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:16.847Z,1749142096.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 276.136383 m,
      bearing: 336.523711 deg,
      approach rate: -0.621336 m/s,
      LOS rate: -0.005639 deg/s,
      cmd heading: 332.239444 deg,
      new cmd heading: 332.231760 deg.

2025-06-05T16:48:16.848Z,1749142096.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798538 target range: 290.572357 and range: 302.30 m.
2025-06-05T16:48:17.075Z,1749142097.075 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:17.075Z,1749142097.075 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:17.075Z,1749142097.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:17.201Z,1749142097.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:17.212Z,1749142097.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 275.924713 m,
      bearing: 336.521788 deg,
      approach rate: -0.591529 m/s,
      LOS rate: -0.005378 deg/s,
      cmd heading: 332.231767 deg,
      new cmd heading: 332.225993 deg.

2025-06-05T16:48:17.223Z,1749142097.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798438 target range: 290.572357 and range: 302.30 m.
2025-06-05T16:48:17.328Z,1749142097.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748887
2025-06-05T16:48:17.581Z,1749142097.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001302
2025-06-05T16:48:17.705Z,1749142097.705 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:48:17.791Z,1749142097.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:17.793Z,1749142097.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 275.563690 m,
      bearing: 336.518608 deg,
      approach rate: -0.611596 m/s,
      LOS rate: -0.005393 deg/s,
      cmd heading: 332.226002 deg,
      new cmd heading: 332.216452 deg.

2025-06-05T16:48:17.795Z,1749142097.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798271 target range: 290.572357 and range: 302.30 m.
2025-06-05T16:48:17.833Z,1749142097.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253319
2025-06-05T16:48:18.084Z,1749142098.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504506
2025-06-05T16:48:18.152Z,1749142098.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:18.155Z,1749142098.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 275.321411 m,
      bearing: 336.516310 deg,
      approach rate: -0.671081 m/s,
      LOS rate: -0.006372 deg/s,
      cmd heading: 332.216440 deg,
      new cmd heading: 332.209538 deg.

2025-06-05T16:48:18.156Z,1749142098.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798150 target range: 290.572357 and range: 302.30 m.
2025-06-05T16:48:18.335Z,1749142098.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755934
2025-06-05T16:48:18.587Z,1749142098.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007792
2025-06-05T16:48:18.589Z,1749142098.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:18.592Z,1749142098.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 275.060303 m,
      bearing: 336.513720 deg,
      approach rate: -0.597635 m/s,
      LOS rate: -0.005934 deg/s,
      cmd heading: 332.209528 deg,
      new cmd heading: 332.201750 deg.

2025-06-05T16:48:18.593Z,1749142098.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798014 target range: 290.572357 and range: 302.30 m.
2025-06-05T16:48:18.840Z,1749142098.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260577
2025-06-05T16:48:19.091Z,1749142099.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512128
2025-06-05T16:48:19.161Z,1749142099.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:19.168Z,1749142099.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:19.176Z,1749142099.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 274.697144 m,
      bearing: 336.508169 deg,
      approach rate: -0.627156 m/s,
      LOS rate: -0.009598 deg/s,
      cmd heading: 332.201741 deg,
      new cmd heading: 332.185067 deg.

2025-06-05T16:48:19.177Z,1749142099.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797723 target range: 290.572357 and range: 302.30 m.
2025-06-05T16:48:19.343Z,1749142099.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763870
2025-06-05T16:48:19.596Z,1749142099.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016283
2025-06-05T16:48:19.733Z,1749142099.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:19.740Z,1749142099.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 274.366089 m,
      bearing: 336.503255 deg,
      approach rate: -0.585898 m/s,
      LOS rate: -0.008708 deg/s,
      cmd heading: 332.185075 deg,
      new cmd heading: 332.170314 deg.

2025-06-05T16:48:19.741Z,1749142099.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797466 target range: 290.572357 and range: 302.30 m.
2025-06-05T16:48:19.847Z,1749142099.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267934
2025-06-05T16:48:20.099Z,1749142100.099 [DAT](INFO): DAT read: Rx Time:16:48:18.6082

2025-06-05T16:48:20.100Z,1749142100.100 [DAT](INFO): Rx dataTimestamp_ set to:1749142100.099332
2025-06-05T16:48:20.100Z,1749142100.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520900
2025-06-05T16:48:20.252Z,1749142100.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:20.259Z,1749142100.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 274.001892 m,
      bearing: 336.496718 deg,
      approach rate: -0.701290 m/s,
      LOS rate: -0.012603 deg/s,
      cmd heading: 332.170322 deg,
      new cmd heading: 332.150687 deg.

2025-06-05T16:48:20.260Z,1749142100.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797123 target range: 290.572357 and range: 302.30 m.
2025-06-05T16:48:20.352Z,1749142100.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773097
2025-06-05T16:48:20.620Z,1749142100.620 [DAT](INFO): DAT read: 16:48:18.6082 LVL= 24864, 23473, 21154, 27699, AGC= 68, IDX= 415,-0.27,-0.394,-1.710,-0.380,-1.203, PHS= 0.897,-0.460, 0.820, RAW= 147.1, -18.6, CAL= 152.8, -26.0, ROT= 357.2,  26.0

2025-06-05T16:48:20.621Z,1749142100.621 [DAT](INFO): got valid direction response:
 16:48:18.6082 LVL= 24864, 23473, 21154, 27699, AGC= 68, IDX= 415,-0.27,-0.394,-1.710,-0.380,-1.203, PHS= 0.897,-0.460, 0.820, RAW= 147.1, -18.6, CAL= 152.8, -26.0, ROT= 357.2,  26.0

2025-06-05T16:48:20.622Z,1749142100.622 [DAT](INFO): DAT read: Bearing 357.2,  26.0 (Local)

2025-06-05T16:48:20.623Z,1749142100.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2,  26.0 (Local)

2025-06-05T16:48:20.624Z,1749142100.624 [DAT](INFO): DAT read: Range 10 to 50 : 300.1 m  (Round-trip  400.2 ms) speed  0.5 m/s

2025-06-05T16:48:20.625Z,1749142100.625 [DAT](INFO): DAT read: user:2385>

2025-06-05T16:48:20.625Z,1749142100.625 [DAT](INFO): DAT read: Tx time:16:48:19.7038

2025-06-05T16:48:20.626Z,1749142100.626 [DAT](INFO): Ping request sent.
2025-06-05T16:48:20.670Z,1749142100.670 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:20.673Z,1749142100.673 [DAT](INFO): DAT read: TxSync time:16:48:19.7030

2025-06-05T16:48:20.673Z,1749142100.673 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:48:20.693Z,1749142100.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.57 m.
2025-06-05T16:48:20.705Z,1749142100.705 [DAT](INFO): direction in FSK: [0.897721,-0.043906,-0.438371]
2025-06-05T16:48:20.705Z,1749142100.705 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:20.718Z,1749142100.718 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:20.759Z,1749142100.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.572357 m,
      nav range: 273.729584 m,
      bearing: 336.491820 deg,
      approach rate: -0.633146 m/s,
      LOS rate: -0.011400 deg/s,
      cmd heading: 332.150679 deg,
      new cmd heading: 332.135969 deg.

2025-06-05T16:48:20.760Z,1749142100.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796866 target range: 290.572357 and range: 302.30 m.
2025-06-05T16:48:20.768Z,1749142100.768 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:20.768Z,1749142100.768 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:21.193Z,1749142101.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 300.100006 m,
      deltaT: 4.032060 s,
      deltaX: -2.199982 m,
      approachRate: -0.545622 m/s,
      rangeRepo size: 4

2025-06-05T16:48:21.200Z,1749142101.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 297.707733 m,
      bearing: 332.063598 deg,
      lat: 36.906285 deg,
      lon: -122.115939 deg,
      deltaT: 7.816157 s,
      deltaX: 7.135376 m,
      approachRate: 0.912901 m/s,
      posRepo size: 4

2025-06-05T16:48:21.200Z,1749142101.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-06-05T16:48:21.207Z,1749142101.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.707733 m,
      nav range: 273.389282 m,
      bearing: 336.484303 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011400 deg/s,
      cmd heading: 332.135980 deg,
      new cmd heading: 332.118531 deg.

2025-06-05T16:48:21.208Z,1749142101.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796562 target range: 297.707733 and range: 300.10 m.
2025-06-05T16:48:21.543Z,1749142101.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:21.551Z,1749142101.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-06-05T16:48:21.559Z,1749142101.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.707733 m,
      nav range: 273.161804 m,
      bearing: 336.479491 deg,
      approach rate: -0.634619 m/s,
      LOS rate: -0.013438 deg/s,
      cmd heading: 332.118522 deg,
      new cmd heading: 332.104072 deg.

2025-06-05T16:48:21.560Z,1749142101.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796309 target range: 297.707733 and range: 300.10 m.
2025-06-05T16:48:21.613Z,1749142101.613 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:21.614Z,1749142101.614 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:21.614Z,1749142101.614 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:21.866Z,1749142101.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239968
2025-06-05T16:48:21.991Z,1749142101.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-06-05T16:48:21.993Z,1749142101.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.707733 m,
      nav range: 272.841339 m,
      bearing: 336.472449 deg,
      approach rate: -0.728631 m/s,
      LOS rate: -0.016028 deg/s,
      cmd heading: 332.104069 deg,
      new cmd heading: 332.082921 deg.

2025-06-05T16:48:22.012Z,1749142102.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795940 target range: 297.707733 and range: 300.10 m.
2025-06-05T16:48:22.118Z,1749142102.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491715
2025-06-05T16:48:22.366Z,1749142102.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-06-05T16:48:22.367Z,1749142102.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741406
2025-06-05T16:48:22.371Z,1749142102.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.707733 m,
      nav range: 272.585999 m,
      bearing: 336.466884 deg,
      approach rate: -0.681010 m/s,
      LOS rate: -0.014856 deg/s,
      cmd heading: 332.082923 deg,
      new cmd heading: 332.066212 deg.

2025-06-05T16:48:22.372Z,1749142102.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795649 target range: 297.707733 and range: 300.10 m.
2025-06-05T16:48:22.619Z,1749142102.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993057
2025-06-05T16:48:22.867Z,1749142102.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-06-05T16:48:22.871Z,1749142102.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245319
2025-06-05T16:48:22.872Z,1749142102.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.707733 m,
      nav range: 272.238403 m,
      bearing: 336.458322 deg,
      approach rate: -0.693154 m/s,
      LOS rate: -0.017096 deg/s,
      cmd heading: 332.066203 deg,
      new cmd heading: 332.040484 deg.

2025-06-05T16:48:22.873Z,1749142102.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795200 target range: 297.707733 and range: 300.10 m.
2025-06-05T16:48:23.123Z,1749142103.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497234
2025-06-05T16:48:23.180Z,1749142103.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-06-05T16:48:23.183Z,1749142103.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.707733 m,
      nav range: 272.022552 m,
      bearing: 336.452995 deg,
      approach rate: -0.689822 m/s,
      LOS rate: -0.017040 deg/s,
      cmd heading: 332.040494 deg,
      new cmd heading: 332.024499 deg.

2025-06-05T16:48:23.185Z,1749142103.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794921 target range: 297.707733 and range: 300.10 m.
2025-06-05T16:48:23.376Z,1749142103.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750249
2025-06-05T16:48:23.577Z,1749142103.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:23.598Z,1749142103.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-06-05T16:48:23.601Z,1749142103.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.707733 m,
      nav range: 271.746399 m,
      bearing: 336.446190 deg,
      approach rate: -0.687945 m/s,
      LOS rate: -0.016968 deg/s,
      cmd heading: 332.024511 deg,
      new cmd heading: 332.004077 deg.

2025-06-05T16:48:23.603Z,1749142103.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794564 target range: 297.707733 and range: 300.10 m.
2025-06-05T16:48:23.628Z,1749142103.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001622
2025-06-05T16:48:23.879Z,1749142103.879 [DAT](INFO): DAT read: Rx Time:16:48:22.5047

2025-06-05T16:48:23.880Z,1749142103.880 [DAT](INFO): Rx dataTimestamp_ set to:1749142103.879468
2025-06-05T16:48:23.880Z,1749142103.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254414
2025-06-05T16:48:24.072Z,1749142104.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-06-05T16:48:24.079Z,1749142104.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.707733 m,
      nav range: 271.429382 m,
      bearing: 336.437960 deg,
      approach rate: -0.646663 m/s,
      LOS rate: -0.016808 deg/s,
      cmd heading: 332.004075 deg,
      new cmd heading: 331.979356 deg.

2025-06-05T16:48:24.081Z,1749142104.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794133 target range: 297.707733 and range: 300.10 m.
2025-06-05T16:48:24.131Z,1749142104.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505374
2025-06-05T16:48:24.389Z,1749142104.389 [DAT](INFO): DAT read: 16:48:22.5047 LVL= 25264, 32753, 24994, 32755, AGC= 65, IDX= 411,-0.41,-2.948, 2.122,-2.958, 2.577, PHS= 0.846,-0.408, 0.745, RAW= 145.8, -19.1, CAL= 151.5, -26.5, ROT= 358.5,  26.5

2025-06-05T16:48:24.391Z,1749142104.391 [DAT](INFO): got valid direction response:
 16:48:22.5047 LVL= 25264, 32753, 24994, 32755, AGC= 65, IDX= 411,-0.41,-2.948, 2.122,-2.958, 2.577, PHS= 0.846,-0.408, 0.745, RAW= 145.8, -19.1, CAL= 151.5, -26.5, ROT= 358.5,  26.5

2025-06-05T16:48:24.392Z,1749142104.392 [DAT](INFO): DAT read: Bearing 358.5,  26.5 (Local)

2025-06-05T16:48:24.392Z,1749142104.392 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  26.5 (Local)

2025-06-05T16:48:24.394Z,1749142104.394 [DAT](INFO): DAT read: Range 10 to 50 : 297.5 m  (Round-trip  396.7 ms) speed  0.5 m/s

2025-06-05T16:48:24.395Z,1749142104.395 [DAT](INFO): DAT read: user:2386>

2025-06-05T16:48:24.397Z,1749142104.397 [DAT](INFO): DAT read: Tx time:16:48:23.6039

2025-06-05T16:48:24.397Z,1749142104.397 [DAT](INFO): Ping request sent.
2025-06-05T16:48:24.397Z,1749142104.397 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:24.397Z,1749142104.397 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:48:24.399Z,1749142104.399 [DAT](INFO): direction in FSK: [0.894628,-0.023427,-0.446198]
2025-06-05T16:48:24.399Z,1749142104.399 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:24.399Z,1749142104.399 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:24.430Z,1749142104.430 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:24.431Z,1749142104.431 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:24.501Z,1749142104.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 297.500000 m,
      deltaT: 3.779762 s,
      deltaX: -2.600006 m,
      approachRate: -0.687876 m/s,
      rangeRepo size: 4

2025-06-05T16:48:24.513Z,1749142104.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 295.127228 m,
      bearing: 332.642355 deg,
      lat: 36.906264 deg,
      lon: -122.116107 deg,
      deltaT: 3.779762 s,
      deltaX: -2.580505 m,
      approachRate: -0.682716 m/s,
      posRepo size: 4

2025-06-05T16:48:24.513Z,1749142104.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:24.539Z,1749142104.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 275.366211 m,
      bearing: 333.396072 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016808 deg/s,
      cmd heading: 331.979350 deg,
      new cmd heading: 331.957715 deg.

2025-06-05T16:48:24.541Z,1749142104.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793755 target range: 295.127228 and range: 297.50 m.
2025-06-05T16:48:24.636Z,1749142104.636 [DAT](INFO): DAT read: TxSync time:16:48:23.6031

2025-06-05T16:48:25.121Z,1749142105.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:25.124Z,1749142105.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 274.926697 m,
      bearing: 333.379887 deg,
      approach rate: -0.708890 m/s,
      LOS rate: -0.026148 deg/s,
      cmd heading: 331.957712 deg,
      new cmd heading: 331.909077 deg.

2025-06-05T16:48:25.125Z,1749142105.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792906 target range: 295.127228 and range: 297.50 m.
2025-06-05T16:48:25.581Z,1749142105.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:25.583Z,1749142105.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:25.587Z,1749142105.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 274.612274 m,
      bearing: 333.368276 deg,
      approach rate: -0.679479 m/s,
      LOS rate: -0.025120 deg/s,
      cmd heading: 331.909081 deg,
      new cmd heading: 331.874209 deg.

2025-06-05T16:48:25.588Z,1749142105.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792298 target range: 295.127228 and range: 297.50 m.
2025-06-05T16:48:25.644Z,1749142105.644 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:25.644Z,1749142105.644 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:25.644Z,1749142105.644 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:25.896Z,1749142105.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498400
2025-06-05T16:48:26.015Z,1749142106.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:26.021Z,1749142106.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 274.322113 m,
      bearing: 333.358896 deg,
      approach rate: -0.674332 m/s,
      LOS rate: -0.021823 deg/s,
      cmd heading: 331.874220 deg,
      new cmd heading: 331.846050 deg.

2025-06-05T16:48:26.022Z,1749142106.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791806 target range: 295.127228 and range: 297.50 m.
2025-06-05T16:48:26.148Z,1749142106.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750727
2025-06-05T16:48:26.389Z,1749142106.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:26.392Z,1749142106.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 274.070557 m,
      bearing: 333.350785 deg,
      approach rate: -0.670560 m/s,
      LOS rate: -0.021640 deg/s,
      cmd heading: 331.846052 deg,
      new cmd heading: 331.821698 deg.

2025-06-05T16:48:26.393Z,1749142106.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791381 target range: 295.127228 and range: 297.50 m.
2025-06-05T16:48:26.399Z,1749142106.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002115
2025-06-05T16:48:26.651Z,1749142106.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254255
2025-06-05T16:48:26.844Z,1749142106.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:26.857Z,1749142106.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 273.806824 m,
      bearing: 333.342261 deg,
      approach rate: -0.587350 m/s,
      LOS rate: -0.019003 deg/s,
      cmd heading: 331.821709 deg,
      new cmd heading: 331.796111 deg.

2025-06-05T16:48:26.863Z,1749142106.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790935 target range: 295.127228 and range: 297.50 m.
2025-06-05T16:48:26.903Z,1749142106.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506174
2025-06-05T16:48:27.155Z,1749142107.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758038
2025-06-05T16:48:27.224Z,1749142107.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:27.227Z,1749142107.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 273.522064 m,
      bearing: 333.334744 deg,
      approach rate: -0.736763 m/s,
      LOS rate: -0.019468 deg/s,
      cmd heading: 331.796110 deg,
      new cmd heading: 331.773537 deg.

2025-06-05T16:48:27.229Z,1749142107.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790541 target range: 295.127228 and range: 297.50 m.
2025-06-05T16:48:27.407Z,1749142107.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009952
2025-06-05T16:48:27.592Z,1749142107.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:27.595Z,1749142107.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:27.599Z,1749142107.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 273.284088 m,
      bearing: 333.328483 deg,
      approach rate: -0.643453 m/s,
      LOS rate: -0.016944 deg/s,
      cmd heading: 331.773543 deg,
      new cmd heading: 331.754743 deg.

2025-06-05T16:48:27.600Z,1749142107.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790213 target range: 295.127228 and range: 297.50 m.
2025-06-05T16:48:27.660Z,1749142107.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263228
2025-06-05T16:48:27.911Z,1749142107.911 [DAT](INFO): DAT read: Rx Ti:26.4027

2025-06-05T16:48:27.911Z,1749142107.911 [DAT](INFO): unknown deviceResponse_: Rx Ti:26.4027

2025-06-05T16:48:27.913Z,1749142107.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515301
2025-06-05T16:48:28.064Z,1749142108.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:28.071Z,1749142108.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 272.999969 m,
      bearing: 333.321160 deg,
      approach rate: -0.605054 m/s,
      LOS rate: -0.015611 deg/s,
      cmd heading: 331.754746 deg,
      new cmd heading: 331.732755 deg.

2025-06-05T16:48:28.078Z,1749142108.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789829 target range: 295.127228 and range: 297.50 m.
2025-06-05T16:48:28.167Z,1749142108.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769577
2025-06-05T16:48:28.420Z,1749142108.420 [DAT](INFO): DAT read: Range 10 to 50 : 296.0 m  (Round-trip  394.7 ms) speed  0.4 m/s

2025-06-05T16:48:28.421Z,1749142108.421 [DAT](INFO): DAT read: user:2387>

2025-06-05T16:48:28.421Z,1749142108.421 [DAT](INFO): DAT read: Tx time:16:48:27.5039

2025-06-05T16:48:28.422Z,1749142108.422 [DAT](INFO): Ping request sent.
2025-06-05T16:48:28.422Z,1749142108.422 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:28.422Z,1749142108.422 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:48:28.422Z,1749142108.422 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:28.423Z,1749142108.423 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:28.432Z,1749142108.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 296.000000 m,
      deltaT: 4.033508 s,
      deltaX: -1.500000 m,
      approachRate: -0.371885 m/s,
      rangeRepo size: 4

2025-06-05T16:48:28.432Z,1749142108.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:28.435Z,1749142108.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 272.764221 m,
      bearing: 333.315110 deg,
      approach rate: -0.644163 m/s,
      LOS rate: -0.016547 deg/s,
      cmd heading: 331.732753 deg,
      new cmd heading: 331.714586 deg.

2025-06-05T16:48:28.436Z,1749142108.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789512 target range: 295.127228 and range: 296.00 m.
2025-06-05T16:48:28.669Z,1749142108.669 [DAT](INFO): DAT read: TxSync time:16:48:27.5031

2025-06-05T16:48:28.959Z,1749142108.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:28.962Z,1749142108.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 272.431824 m,
      bearing: 333.309793 deg,
      approach rate: -0.628017 m/s,
      LOS rate: -0.010058 deg/s,
      cmd heading: 331.714585 deg,
      new cmd heading: 331.698615 deg.

2025-06-05T16:48:28.963Z,1749142108.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789233 target range: 295.127228 and range: 296.00 m.
2025-06-05T16:48:29.280Z,1749142109.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:29.287Z,1749142109.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 272.241028 m,
      bearing: 333.306770 deg,
      approach rate: -0.593963 m/s,
      LOS rate: -0.009416 deg/s,
      cmd heading: 331.698602 deg,
      new cmd heading: 331.689528 deg.

2025-06-05T16:48:29.289Z,1749142109.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789074 target range: 295.127228 and range: 296.00 m.
2025-06-05T16:48:29.657Z,1749142109.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:29.659Z,1749142109.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:29.675Z,1749142109.675 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:29.675Z,1749142109.675 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:29.675Z,1749142109.675 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:29.680Z,1749142109.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 271.999451 m,
      bearing: 333.302866 deg,
      approach rate: -0.637240 m/s,
      LOS rate: -0.010308 deg/s,
      cmd heading: 331.689532 deg,
      new cmd heading: 331.677809 deg.

2025-06-05T16:48:29.681Z,1749142109.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788870 target range: 295.127228 and range: 296.00 m.
2025-06-05T16:48:29.927Z,1749142109.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505511
2025-06-05T16:48:30.180Z,1749142110.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758677
2025-06-05T16:48:30.188Z,1749142110.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:30.191Z,1749142110.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 271.687805 m,
      bearing: 333.298356 deg,
      approach rate: -0.589136 m/s,
      LOS rate: -0.008537 deg/s,
      cmd heading: 331.677811 deg,
      new cmd heading: 331.664264 deg.

2025-06-05T16:48:30.192Z,1749142110.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788633 target range: 295.127228 and range: 296.00 m.
2025-06-05T16:48:30.431Z,1749142110.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009255
2025-06-05T16:48:30.508Z,1749142110.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:30.516Z,1749142110.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 271.486115 m,
      bearing: 333.295423 deg,
      approach rate: -0.630561 m/s,
      LOS rate: -0.009177 deg/s,
      cmd heading: 331.664260 deg,
      new cmd heading: 331.655454 deg.

2025-06-05T16:48:30.517Z,1749142110.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788480 target range: 295.127228 and range: 296.00 m.
2025-06-05T16:48:30.687Z,1749142110.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264627
2025-06-05T16:48:30.935Z,1749142110.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513740
2025-06-05T16:48:31.011Z,1749142111.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:31.014Z,1749142111.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 271.173889 m,
      bearing: 333.292246 deg,
      approach rate: -0.621589 m/s,
      LOS rate: -0.006331 deg/s,
      cmd heading: 331.655463 deg,
      new cmd heading: 331.645922 deg.

2025-06-05T16:48:31.015Z,1749142111.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788313 target range: 295.127228 and range: 296.00 m.
2025-06-05T16:48:31.187Z,1749142111.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765415
2025-06-05T16:48:31.399Z,1749142111.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:31.402Z,1749142111.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 270.950928 m,
      bearing: 333.290035 deg,
      approach rate: -0.613010 m/s,
      LOS rate: -0.006084 deg/s,
      cmd heading: 331.645928 deg,
      new cmd heading: 331.639289 deg.

2025-06-05T16:48:31.403Z,1749142111.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788198 target range: 295.127228 and range: 296.00 m.
2025-06-05T16:48:31.440Z,1749142111.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018744
2025-06-05T16:48:31.691Z,1749142111.691 [DAT](INFO): DAT read: Rx Time:16:48:30.2994

2025-06-05T16:48:31.692Z,1749142111.692 [DAT](INFO): Rx dataTimestamp_ set to:1749142111.691288
2025-06-05T16:48:31.692Z,1749142111.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270406
2025-06-05T16:48:31.851Z,1749142111.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:31.860Z,1749142111.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:31.912Z,1749142111.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 270.666901 m,
      bearing: 333.287305 deg,
      approach rate: -0.587015 m/s,
      LOS rate: -0.005649 deg/s,
      cmd heading: 331.639289 deg,
      new cmd heading: 331.631089 deg.

2025-06-05T16:48:31.919Z,1749142111.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788054 target range: 295.127228 and range: 296.00 m.
2025-06-05T16:48:31.943Z,1749142111.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521558
2025-06-05T16:48:32.199Z,1749142112.199 [DAT](INFO): DAT read: Range 10 to 50 : 293.5 m  (Round-trip  391.4 ms) speed  0.3 m/s

2025-06-05T16:48:32.200Z,1749142112.200 [DAT](INFO): DAT read: user:2388>

2025-06-05T16:48:32.201Z,1749142112.201 [DAT](INFO): DAT read: Tx time:16:48:31.4039

2025-06-05T16:48:32.201Z,1749142112.201 [DAT](INFO): Ping request sent.
2025-06-05T16:48:32.201Z,1749142112.201 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:32.202Z,1749142112.202 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:48:32.202Z,1749142112.202 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:32.202Z,1749142112.202 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:32.431Z,1749142112.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 293.500000 m,
      deltaT: 3.779267 s,
      deltaX: -2.500000 m,
      approachRate: -0.661504 m/s,
      rangeRepo size: 4

2025-06-05T16:48:32.432Z,1749142112.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:32.435Z,1749142112.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 270.301819 m,
      bearing: 333.282632 deg,
      approach rate: -0.640715 m/s,
      LOS rate: -0.008211 deg/s,
      cmd heading: 331.631093 deg,
      new cmd heading: 331.617057 deg.

2025-06-05T16:48:32.436Z,1749142112.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787809 target range: 295.127228 and range: 293.50 m.
2025-06-05T16:48:32.451Z,1749142112.451 [DAT](INFO): DAT read: TxSync time:16:48:31.4031

2025-06-05T16:48:33.006Z,1749142113.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:33.021Z,1749142113.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 269.940857 m,
      bearing: 333.275832 deg,
      approach rate: -0.625015 m/s,
      LOS rate: -0.011790 deg/s,
      cmd heading: 331.617050 deg,
      new cmd heading: 331.596623 deg.

2025-06-05T16:48:33.022Z,1749142113.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787453 target range: 295.127228 and range: 293.50 m.
2025-06-05T16:48:33.346Z,1749142113.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:33.349Z,1749142113.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 269.718933 m,
      bearing: 333.271612 deg,
      approach rate: -0.653690 m/s,
      LOS rate: -0.012443 deg/s,
      cmd heading: 331.596614 deg,
      new cmd heading: 331.583941 deg.

2025-06-05T16:48:33.351Z,1749142113.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787231 target range: 295.127228 and range: 293.50 m.
2025-06-05T16:48:33.766Z,1749142113.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:33.773Z,1749142113.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 269.462799 m,
      bearing: 333.266769 deg,
      approach rate: -0.609105 m/s,
      LOS rate: -0.011527 deg/s,
      cmd heading: 331.583937 deg,
      new cmd heading: 331.569395 deg.

2025-06-05T16:48:33.787Z,1749142113.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786978 target range: 295.127228 and range: 293.50 m.
2025-06-05T16:48:34.278Z,1749142114.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:34.282Z,1749142114.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:34.289Z,1749142114.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 269.132721 m,
      bearing: 333.257929 deg,
      approach rate: -0.639373 m/s,
      LOS rate: -0.017144 deg/s,
      cmd heading: 331.569402 deg,
      new cmd heading: 331.542851 deg.

2025-06-05T16:48:34.290Z,1749142114.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786514 target range: 295.127228 and range: 293.50 m.
2025-06-05T16:48:34.467Z,1749142114.467 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:34.467Z,1749142114.467 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:34.467Z,1749142114.467 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:34.641Z,1749142114.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:34.644Z,1749142114.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 268.891479 m,
      bearing: 333.251460 deg,
      approach rate: -0.671619 m/s,
      LOS rate: -0.018027 deg/s,
      cmd heading: 331.542846 deg,
      new cmd heading: 331.523421 deg.

2025-06-05T16:48:34.645Z,1749142114.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786175 target range: 295.127228 and range: 293.50 m.
2025-06-05T16:48:34.719Z,1749142114.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517845
2025-06-05T16:48:34.974Z,1749142114.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772220
2025-06-05T16:48:35.129Z,1749142115.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:35.159Z,1749142115.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 268.580780 m,
      bearing: 333.240567 deg,
      approach rate: -0.637221 m/s,
      LOS rate: -0.022366 deg/s,
      cmd heading: 331.523421 deg,
      new cmd heading: 331.490705 deg.

2025-06-05T16:48:35.160Z,1749142115.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785604 target range: 295.127228 and range: 293.50 m.
2025-06-05T16:48:35.225Z,1749142115.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022937
2025-06-05T16:48:35.476Z,1749142115.476 [DAT](INFO): DAT read: Rx Time:16:48:34.1960

2025-06-05T16:48:35.476Z,1749142115.476 [DAT](INFO): Rx dataTimestamp_ set to:1749142115.476083
2025-06-05T16:48:35.477Z,1749142115.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276015
2025-06-05T16:48:35.600Z,1749142115.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:35.619Z,1749142115.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 268.264282 m,
      bearing: 333.229654 deg,
      approach rate: -0.671618 m/s,
      LOS rate: -0.023187 deg/s,
      cmd heading: 331.490718 deg,
      new cmd heading: 331.457938 deg.

2025-06-05T16:48:35.620Z,1749142115.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785032 target range: 295.127228 and range: 293.50 m.
2025-06-05T16:48:35.730Z,1749142115.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527603
2025-06-05T16:48:35.982Z,1749142115.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780214
2025-06-05T16:48:36.087Z,1749142116.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.13 m.
2025-06-05T16:48:36.090Z,1749142116.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.127228 m,
      nav range: 267.935974 m,
      bearing: 333.217184 deg,
      approach rate: -0.673349 m/s,
      LOS rate: -0.025605 deg/s,
      cmd heading: 331.457934 deg,
      new cmd heading: 331.420480 deg.

2025-06-05T16:48:36.094Z,1749142116.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784379 target range: 295.127228 and range: 293.50 m.
2025-06-05T16:48:36.237Z,1749142116.237 [DAT](INFO): DAT read: 16:48:34.1960 LVL= 27632, 30529, 26466, 32755, AGC= 66, IDX= 222,-0.30, 1.329,-0.237, 1.088, 0.547, PHS= 0.870,-0.737, 0.538, RAW= 138.7,  -9.2, CAL= 145.1, -19.5, ROT=   4.9,  19.5

2025-06-05T16:48:36.240Z,1749142116.240 [DAT](INFO): got valid direction response:
 16:48:34.1960 LVL= 27632, 30529, 26466, 32755, AGC= 66, IDX= 222,-0.30, 1.329,-0.237, 1.088, 0.547, PHS= 0.870,-0.737, 0.538, RAW= 138.7,  -9.2, CAL= 145.1, -19.5, ROT=   4.9,  19.5

2025-06-05T16:48:36.243Z,1749142116.243 [DAT](INFO): DAT read: Bearing   4.9,  19.5 (Local)

2025-06-05T16:48:36.244Z,1749142116.244 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.9,  19.5 (Local)

2025-06-05T16:48:36.256Z,1749142116.256 [DAT](INFO): DAT read: Range 10 to 50 : 291.0 m  (Round-trip  388.0 ms) speed  0.3 m/s

2025-06-05T16:48:36.266Z,1749142116.266 [DAT](INFO): DAT read: user:2389>

2025-06-05T16:48:36.267Z,1749142116.267 [DAT](INFO): DAT read: Tx time:16:48:35.3039

2025-06-05T16:48:36.267Z,1749142116.267 [DAT](INFO): Ping request sent.
2025-06-05T16:48:36.268Z,1749142116.268 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:36.268Z,1749142116.268 [DAT](INFO): DAT read: TxSync time:16:48:35.3031

2025-06-05T16:48:36.269Z,1749142116.269 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:48:36.270Z,1749142116.270 [DAT](INFO): direction in FSK: [0.939196,0.080518,-0.333807]
2025-06-05T16:48:36.270Z,1749142116.270 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:36.290Z,1749142116.290 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:36.303Z,1749142116.303 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:36.304Z,1749142116.304 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:36.641Z,1749142116.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 291.000000 m,
      deltaT: 4.035341 s,
      deltaX: -2.500000 m,
      approachRate: -0.619526 m/s,
      rangeRepo size: 4

2025-06-05T16:48:36.649Z,1749142116.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 288.676086 m,
      bearing: 337.139678 deg,
      lat: 36.906264 deg,
      lon: -122.115995 deg,
      deltaT: 11.848116 s,
      deltaX: -6.451141 m,
      approachRate: -0.544487 m/s,
      posRepo size: 4

2025-06-05T16:48:36.649Z,1749142116.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.68 m.
2025-06-05T16:48:36.657Z,1749142116.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.676086 m,
      nav range: 263.279938 m,
      bearing: 335.126985 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025605 deg/s,
      cmd heading: 331.420477 deg,
      new cmd heading: 331.377971 deg.

2025-06-05T16:48:36.658Z,1749142116.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783637 target range: 288.676086 and range: 291.00 m.
2025-06-05T16:48:37.077Z,1749142117.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:37.081Z,1749142117.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.68 m.
2025-06-05T16:48:37.087Z,1749142117.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.676086 m,
      nav range: 262.953033 m,
      bearing: 335.116503 deg,
      approach rate: -0.743204 m/s,
      LOS rate: -0.023859 deg/s,
      cmd heading: 331.377966 deg,
      new cmd heading: 331.346482 deg.

2025-06-05T16:48:37.088Z,1749142117.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783087 target range: 288.676086 and range: 291.00 m.
2025-06-05T16:48:37.241Z,1749142117.241 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:37.241Z,1749142117.241 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:37.241Z,1749142117.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:37.427Z,1749142117.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.68 m.
2025-06-05T16:48:37.432Z,1749142117.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.676086 m,
      nav range: 262.716400 m,
      bearing: 335.108900 deg,
      approach rate: -0.682562 m/s,
      LOS rate: -0.021951 deg/s,
      cmd heading: 331.346492 deg,
      new cmd heading: 331.323662 deg.

2025-06-05T16:48:37.433Z,1749142117.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782689 target range: 288.676086 and range: 291.00 m.
2025-06-05T16:48:37.491Z,1749142117.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223810
2025-06-05T16:48:37.743Z,1749142117.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475517
2025-06-05T16:48:37.836Z,1749142117.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.68 m.
2025-06-05T16:48:37.859Z,1749142117.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.676086 m,
      nav range: 262.441254 m,
      bearing: 335.099949 deg,
      approach rate: -0.673070 m/s,
      LOS rate: -0.021920 deg/s,
      cmd heading: 331.323652 deg,
      new cmd heading: 331.296770 deg.

2025-06-05T16:48:37.860Z,1749142117.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782219 target range: 288.676086 and range: 291.00 m.
2025-06-05T16:48:37.997Z,1749142117.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729689
2025-06-05T16:48:38.248Z,1749142118.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980404
2025-06-05T16:48:38.257Z,1749142118.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.68 m.
2025-06-05T16:48:38.260Z,1749142118.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.676086 m,
      nav range: 262.153503 m,
      bearing: 335.091350 deg,
      approach rate: -0.684157 m/s,
      LOS rate: -0.020467 deg/s,
      cmd heading: 331.296768 deg,
      new cmd heading: 331.270944 deg.

2025-06-05T16:48:38.261Z,1749142118.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781769 target range: 288.676086 and range: 291.00 m.
2025-06-05T16:48:38.499Z,1749142118.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231736
2025-06-05T16:48:38.631Z,1749142118.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.68 m.
2025-06-05T16:48:38.633Z,1749142118.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.676086 m,
      nav range: 261.896606 m,
      bearing: 335.083690 deg,
      approach rate: -0.688049 m/s,
      LOS rate: -0.020538 deg/s,
      cmd heading: 331.270950 deg,
      new cmd heading: 331.247945 deg.

2025-06-05T16:48:38.635Z,1749142118.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781367 target range: 288.676086 and range: 291.00 m.
2025-06-05T16:48:38.751Z,1749142118.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483749
2025-06-05T16:48:39.006Z,1749142119.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737764
2025-06-05T16:48:39.102Z,1749142119.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:39.104Z,1749142119.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.68 m.
2025-06-05T16:48:39.107Z,1749142119.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.676086 m,
      nav range: 261.576874 m,
      bearing: 335.075431 deg,
      approach rate: -0.674057 m/s,
      LOS rate: -0.017431 deg/s,
      cmd heading: 331.247946 deg,
      new cmd heading: 331.223142 deg.

2025-06-05T16:48:39.108Z,1749142119.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780934 target range: 288.676086 and range: 291.00 m.
2025-06-05T16:48:39.257Z,1749142119.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988899
2025-06-05T16:48:39.449Z,1749142119.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.68 m.
2025-06-05T16:48:39.457Z,1749142119.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.676086 m,
      nav range: 261.355469 m,
      bearing: 335.069698 deg,
      approach rate: -0.642372 m/s,
      LOS rate: -0.016649 deg/s,
      cmd heading: 331.223139 deg,
      new cmd heading: 331.205923 deg.

2025-06-05T16:48:39.458Z,1749142119.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780634 target range: 288.676086 and range: 291.00 m.
2025-06-05T16:48:39.507Z,1749142119.507 [DAT](INFO): DAT read: Rx Time:16:48:38.0932

2025-06-05T16:48:39.508Z,1749142119.508 [DAT](INFO): Rx dataTimestamp_ set to:1749142119.507365
2025-06-05T16:48:39.508Z,1749142119.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240637
2025-06-05T16:48:39.759Z,1749142119.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491579
2025-06-05T16:48:39.852Z,1749142119.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.68 m.
2025-06-05T16:48:39.856Z,1749142119.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.676086 m,
      nav range: 261.082642 m,
      bearing: 335.062659 deg,
      approach rate: -0.676824 m/s,
      LOS rate: -0.017481 deg/s,
      cmd heading: 331.205927 deg,
      new cmd heading: 331.184787 deg.

2025-06-05T16:48:39.860Z,1749142119.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780265 target range: 288.676086 and range: 291.00 m.
2025-06-05T16:48:40.028Z,1749142120.028 [DAT](INFO): DAT read: 16:48:38.0932 LVL= 23952, 32753, 23330, 32355, AGC= 68, IDX= 221,-0.22,-1.251,-2.908,-1.528,-2.055, PHS= 0.892,-0.806, 0.524, RAW= 138.1,  -7.9, CAL= 144.2, -18.3, ROT=   5.8,  18.3

2025-06-05T16:48:40.043Z,1749142120.043 [DAT](INFO): got valid direction response:
 16:48:38.0932 LVL= 23952, 32753, 23330, 32355, AGC= 68, IDX= 221,-0.22,-1.251,-2.908,-1.528,-2.055, PHS= 0.892,-0.806, 0.524, RAW= 138.1,  -7.9, CAL= 144.2, -18.3, ROT=   5.8,  18.3

2025-06-05T16:48:40.044Z,1749142120.044 [DAT](INFO): DAT read: Bearing   5.8,  18.3 (Local)

2025-06-05T16:48:40.044Z,1749142120.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.8,  18.3 (Local)

2025-06-05T16:48:40.056Z,1749142120.056 [DAT](INFO): DAT read: Range 10 to 50 : 288.8 m  (Round-trip  385.1 ms) speed  0.4 m/s

2025-06-05T16:48:40.057Z,1749142120.057 [DAT](INFO): DAT read: user:2390>

2025-06-05T16:48:40.067Z,1749142120.067 [DAT](INFO): DAT read: Tx time:16:48:39.2040

2025-06-05T16:48:40.067Z,1749142120.067 [DAT](INFO): Ping request sent.
2025-06-05T16:48:40.068Z,1749142120.068 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:40.068Z,1749142120.068 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:48:40.069Z,1749142120.069 [DAT](INFO): direction in FSK: [0.944565,0.095945,-0.313992]
2025-06-05T16:48:40.069Z,1749142120.069 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:40.069Z,1749142120.069 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:40.087Z,1749142120.087 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:40.088Z,1749142120.088 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:40.264Z,1749142120.264 [DAT](INFO): DAT read: TxSync time:16:48:39.2032

2025-06-05T16:48:40.401Z,1749142120.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 288.799988 m,
      deltaT: 3.782365 s,
      deltaX: -2.200012 m,
      approachRate: -0.581650 m/s,
      rangeRepo size: 4

2025-06-05T16:48:40.404Z,1749142120.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 286.489136 m,
      bearing: 337.977877 deg,
      lat: 36.906378 deg,
      lon: -122.115995 deg,
      deltaT: 3.782365 s,
      deltaX: -2.186951 m,
      approachRate: -0.578197 m/s,
      posRepo size: 4

2025-06-05T16:48:40.404Z,1749142120.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.49 m.
2025-06-05T16:48:40.419Z,1749142120.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.489136 m,
      nav range: 272.269440 m,
      bearing: 336.180317 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017481 deg/s,
      cmd heading: 331.184781 deg,
      new cmd heading: 331.156013 deg.

2025-06-05T16:48:40.420Z,1749142120.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779763 target range: 286.489136 and range: 288.80 m.
2025-06-05T16:48:40.877Z,1749142120.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.49 m.
2025-06-05T16:48:40.882Z,1749142120.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.489136 m,
      nav range: 271.928406 m,
      bearing: 336.175014 deg,
      approach rate: -0.715867 m/s,
      LOS rate: -0.011145 deg/s,
      cmd heading: 331.156012 deg,
      new cmd heading: 331.140083 deg.

2025-06-05T16:48:40.883Z,1749142120.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779485 target range: 286.489136 and range: 288.80 m.
2025-06-05T16:48:41.207Z,1749142121.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:41.209Z,1749142121.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.49 m.
2025-06-05T16:48:41.224Z,1749142121.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.489136 m,
      nav range: 271.717773 m,
      bearing: 336.172793 deg,
      approach rate: -0.634051 m/s,
      LOS rate: -0.006693 deg/s,
      cmd heading: 331.140084 deg,
      new cmd heading: 331.133414 deg.

2025-06-05T16:48:41.225Z,1749142121.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779368 target range: 286.489136 and range: 288.80 m.
2025-06-05T16:48:41.272Z,1749142121.272 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:41.272Z,1749142121.272 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:41.272Z,1749142121.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:41.524Z,1749142121.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.456042
2025-06-05T16:48:41.554Z,1749142121.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.49 m.
2025-06-05T16:48:41.557Z,1749142121.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.489136 m,
      nav range: 271.489868 m,
      bearing: 336.170345 deg,
      approach rate: -0.660980 m/s,
      LOS rate: -0.007104 deg/s,
      cmd heading: 331.133418 deg,
      new cmd heading: 331.126069 deg.

2025-06-05T16:48:41.559Z,1749142121.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779240 target range: 286.489136 and range: 288.80 m.
2025-06-05T16:48:41.776Z,1749142121.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.708010
2025-06-05T16:48:41.941Z,1749142121.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.49 m.
2025-06-05T16:48:41.944Z,1749142121.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.489136 m,
      nav range: 271.233032 m,
      bearing: 336.167477 deg,
      approach rate: -0.663696 m/s,
      LOS rate: -0.007419 deg/s,
      cmd heading: 331.126068 deg,
      new cmd heading: 331.117455 deg.

2025-06-05T16:48:41.946Z,1749142121.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779090 target range: 286.489136 and range: 288.80 m.
2025-06-05T16:48:42.031Z,1749142122.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962308
2025-06-05T16:48:42.279Z,1749142122.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211516
2025-06-05T16:48:42.453Z,1749142122.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.49 m.
2025-06-05T16:48:42.456Z,1749142122.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.489136 m,
      nav range: 270.909454 m,
      bearing: 336.165290 deg,
      approach rate: -0.632649 m/s,
      LOS rate: -0.004281 deg/s,
      cmd heading: 331.117462 deg,
      new cmd heading: 331.110894 deg.

2025-06-05T16:48:42.457Z,1749142122.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778975 target range: 286.489136 and range: 288.80 m.
2025-06-05T16:48:42.533Z,1749142122.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465212
2025-06-05T16:48:42.754Z,1749142122.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.49 m.
2025-06-05T16:48:42.757Z,1749142122.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.489136 m,
      nav range: 270.717590 m,
      bearing: 336.163924 deg,
      approach rate: -0.637134 m/s,
      LOS rate: -0.004540 deg/s,
      cmd heading: 331.110905 deg,
      new cmd heading: 331.106804 deg.

2025-06-05T16:48:42.758Z,1749142122.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778904 target range: 286.489136 and range: 288.80 m.
2025-06-05T16:48:42.783Z,1749142122.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715659
2025-06-05T16:48:43.038Z,1749142123.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969627
2025-06-05T16:48:43.196Z,1749142123.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.49 m.
2025-06-05T16:48:43.215Z,1749142123.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.489136 m,
      nav range: 270.442902 m,
      bearing: 336.162969 deg,
      approach rate: -0.621538 m/s,
      LOS rate: -0.002163 deg/s,
      cmd heading: 331.106807 deg,
      new cmd heading: 331.103940 deg.

2025-06-05T16:48:43.220Z,1749142123.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778854 target range: 286.489136 and range: 288.80 m.
2025-06-05T16:48:43.289Z,1749142123.289 [DAT](INFO): DAT read: Rx Time:16:48:41.9911

2025-06-05T16:48:43.289Z,1749142123.289 [DAT](INFO): Rx dataTimestamp_ set to:1749142123.288826
2025-06-05T16:48:43.291Z,1749142123.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222648
2025-06-05T16:48:43.540Z,1749142123.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.472527
2025-06-05T16:48:43.594Z,1749142123.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:43.624Z,1749142123.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.49 m.
2025-06-05T16:48:43.627Z,1749142123.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.489136 m,
      nav range: 270.203552 m,
      bearing: 336.162128 deg,
      approach rate: -0.588892 m/s,
      LOS rate: -0.002071 deg/s,
      cmd heading: 331.103939 deg,
      new cmd heading: 331.101413 deg.

2025-06-05T16:48:43.628Z,1749142123.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778810 target range: 286.489136 and range: 288.80 m.
2025-06-05T16:48:43.809Z,1749142123.809 [DAT](INFO): DAT read: 16:48:41.9911 LVL= 25968, 22977, 25026, 28595, AGC= 66, IDX= 222, 0.47, 2.761, 1.121, 2.511, 1.969, PHS= 0.879,-0.801, 0.539, RAW= 138.9,  -8.1, CAL= 145.2, -18.2, ROT=   4.8,  18.2

2025-06-05T16:48:43.810Z,1749142123.810 [DAT](INFO): got valid direction response:
 16:48:41.9911 LVL= 25968, 22977, 25026, 28595, AGC= 66, IDX= 222, 0.47, 2.761, 1.121, 2.511, 1.969, PHS= 0.879,-0.801, 0.539, RAW= 138.9,  -8.1, CAL= 145.2, -18.2, ROT=   4.8,  18.2

2025-06-05T16:48:43.823Z,1749142123.823 [DAT](INFO): DAT read: Bearing   4.8,  18.2 (Local)

2025-06-05T16:48:43.824Z,1749142123.824 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.8,  18.2 (Local)

2025-06-05T16:48:43.825Z,1749142123.825 [DAT](INFO): DAT read: Range 10 to 50 : 287.2 m  (Round-trip  383.0 ms) speed  0.5 m/s

2025-06-05T16:48:43.826Z,1749142123.826 [DAT](INFO): DAT read: user:2391>

2025-06-05T16:48:43.844Z,1749142123.844 [DAT](INFO): DAT read: Tx time:16:48:43.1040

2025-06-05T16:48:43.844Z,1749142123.844 [DAT](INFO): Ping request sent.
2025-06-05T16:48:43.844Z,1749142123.844 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:43.845Z,1749142123.845 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:48:43.859Z,1749142123.859 [DAT](INFO): direction in FSK: [0.946640,0.079492,-0.312335]
2025-06-05T16:48:43.859Z,1749142123.859 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:43.859Z,1749142123.859 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:43.888Z,1749142123.888 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:43.889Z,1749142123.889 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:44.048Z,1749142124.048 [DAT](INFO): DAT read: TxSync time:16:48:43.1032

2025-06-05T16:48:44.115Z,1749142124.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 287.200012 m,
      deltaT: 3.780300 s,
      deltaX: -1.599976 m,
      approachRate: -0.423240 m/s,
      rangeRepo size: 4

2025-06-05T16:48:44.117Z,1749142124.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 284.897308 m,
      bearing: 337.326655 deg,
      lat: 36.906478 deg,
      lon: -122.115995 deg,
      deltaT: 3.780300 s,
      deltaX: -1.591827 m,
      approachRate: -0.421085 m/s,
      posRepo size: 4

2025-06-05T16:48:44.118Z,1749142124.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:44.139Z,1749142124.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 280.171539 m,
      bearing: 337.078073 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002071 deg/s,
      cmd heading: 331.101425 deg,
      new cmd heading: 331.098307 deg.

2025-06-05T16:48:44.140Z,1749142124.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778756 target range: 284.897308 and range: 287.20 m.
2025-06-05T16:48:44.631Z,1749142124.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:44.635Z,1749142124.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 279.779572 m,
      bearing: 337.077233 deg,
      approach rate: -0.743501 m/s,
      LOS rate: -0.001595 deg/s,
      cmd heading: 331.098310 deg,
      new cmd heading: 331.095787 deg.

2025-06-05T16:48:44.636Z,1749142124.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778712 target range: 284.897308 and range: 287.20 m.
2025-06-05T16:48:45.144Z,1749142125.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:45.156Z,1749142125.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 279.495209 m,
      bearing: 337.076750 deg,
      approach rate: -0.554157 m/s,
      LOS rate: -0.000942 deg/s,
      cmd heading: 331.095797 deg,
      new cmd heading: 331.094346 deg.

2025-06-05T16:48:45.157Z,1749142125.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778687 target range: 284.897308 and range: 287.20 m.
2025-06-05T16:48:45.624Z,1749142125.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:45.632Z,1749142125.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:45.635Z,1749142125.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 279.170258 m,
      bearing: 337.076092 deg,
      approach rate: -0.674429 m/s,
      LOS rate: -0.001366 deg/s,
      cmd heading: 331.094349 deg,
      new cmd heading: 331.092375 deg.

2025-06-05T16:48:45.636Z,1749142125.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778652 target range: 284.897308 and range: 287.20 m.
2025-06-05T16:48:45.807Z,1749142125.807 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:45.807Z,1749142125.807 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:45.807Z,1749142125.807 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:46.002Z,1749142126.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:46.005Z,1749142126.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 278.941925 m,
      bearing: 337.075604 deg,
      approach rate: -0.607814 m/s,
      LOS rate: -0.001302 deg/s,
      cmd heading: 331.092382 deg,
      new cmd heading: 331.090915 deg.

2025-06-05T16:48:46.006Z,1749142126.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778626 target range: 284.897308 and range: 287.20 m.
2025-06-05T16:48:46.063Z,1749142126.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217889
2025-06-05T16:48:46.311Z,1749142126.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467040
2025-06-05T16:48:46.483Z,1749142126.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:46.490Z,1749142126.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 278.661591 m,
      bearing: 337.073984 deg,
      approach rate: -0.582311 m/s,
      LOS rate: -0.003368 deg/s,
      cmd heading: 331.090907 deg,
      new cmd heading: 331.086042 deg.

2025-06-05T16:48:46.491Z,1749142126.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778542 target range: 284.897308 and range: 287.20 m.
2025-06-05T16:48:46.564Z,1749142126.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720282
2025-06-05T16:48:46.815Z,1749142126.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971101
2025-06-05T16:48:46.818Z,1749142126.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:46.821Z,1749142126.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 278.438843 m,
      bearing: 337.072687 deg,
      approach rate: -0.665777 m/s,
      LOS rate: -0.003881 deg/s,
      cmd heading: 331.086043 deg,
      new cmd heading: 331.082148 deg.

2025-06-05T16:48:46.822Z,1749142126.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778473 target range: 284.897308 and range: 287.20 m.
2025-06-05T16:48:47.068Z,1749142127.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223541
2025-06-05T16:48:47.248Z,1749142127.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:47.253Z,1749142127.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 278.167542 m,
      bearing: 337.070893 deg,
      approach rate: -0.630866 m/s,
      LOS rate: -0.004176 deg/s,
      cmd heading: 331.082137 deg,
      new cmd heading: 331.076749 deg.

2025-06-05T16:48:47.255Z,1749142127.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778379 target range: 284.897308 and range: 287.20 m.
2025-06-05T16:48:47.322Z,1749142127.322 [DAT](INFO): DAT read: Rx Time:16:48:45.8880

2025-06-05T16:48:47.323Z,1749142127.323 [DAT](INFO): Rx dataTimestamp_ set to:1749142127.322345
2025-06-05T16:48:47.325Z,1749142127.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480458
2025-06-05T16:48:47.572Z,1749142127.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.727694
2025-06-05T16:48:47.645Z,1749142127.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:47.650Z,1749142127.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:47.669Z,1749142127.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 277.925629 m,
      bearing: 337.069271 deg,
      approach rate: -0.603824 m/s,
      LOS rate: -0.004051 deg/s,
      cmd heading: 331.076754 deg,
      new cmd heading: 331.071885 deg.

2025-06-05T16:48:47.727Z,1749142127.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778295 target range: 284.897308 and range: 287.20 m.
2025-06-05T16:48:47.832Z,1749142127.832 [DAT](INFO): DAT read: 16:48:45.8880 LVL= 29648, 32753, 27122, 32755, AGC= 63, IDX= 223, 0.03, 3.027, 1.242, 2.797, 2.244, PHS= 0.871,-0.955, 0.550, RAW= 140.5,  -5.6, CAL= 146.3, OT=   3.7,  15.1

2025-06-05T16:48:47.835Z,1749142127.835 [DAT](INFO): unknown deviceResponse_: 16:48:45.8880 LVL= 29648, 32753, 27122, 32755, AGC= 63, IDX= 223, 0.03, 3.027, 1.242, 2.797, 2.244, PHS= 0.871,-0.955, 0.550, RAW= 140.5,  -5.6, CAL= 146.3, OT=   3.7,  15.1

2025-06-05T16:48:47.836Z,1749142127.836 [DAT](INFO): DAT read: Bearing   3.7,  15.1 (Local)

2025-06-05T16:48:47.837Z,1749142127.837 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.7,  15.1 (Local)

2025-06-05T16:48:47.839Z,1749142127.839 [DAT](INFO): DAT read: Range 10 to 50 : 284.9 m  (Round-trip  379.9 ms) speed  0.4 m/s

2025-06-05T16:48:47.841Z,1749142127.841 [DAT](INFO): DAT read: user:2392>

2025-06-05T16:48:47.842Z,1749142127.842 [DAT](INFO): DAT read: Tx time:16:48:47.0040

2025-06-05T16:48:47.842Z,1749142127.842 [DAT](INFO): Ping request sent.
2025-06-05T16:48:47.842Z,1749142127.842 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:47.842Z,1749142127.842 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:48:47.843Z,1749142127.843 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:47.843Z,1749142127.843 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:47.855Z,1749142127.855 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:48:48.076Z,1749142128.076 [DAT](INFO): DAT read: TxSync time:16:48:47.0032

2025-06-05T16:48:48.235Z,1749142128.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 284.899994 m,
      deltaT: 4.029698 s,
      deltaX: -2.300018 m,
      approachRate: -0.570767 m/s,
      rangeRepo size: 4

2025-06-05T16:48:48.236Z,1749142128.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:48.239Z,1749142128.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 277.535675 m,
      bearing: 337.064635 deg,
      approach rate: -0.665575 m/s,
      LOS rate: -0.007924 deg/s,
      cmd heading: 331.071891 deg,
      new cmd heading: 331.057964 deg.

2025-06-05T16:48:48.240Z,1749142128.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778051 target range: 284.897308 and range: 284.90 m.
2025-06-05T16:48:48.584Z,1749142128.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:48.588Z,1749142128.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 277.309937 m,
      bearing: 337.061945 deg,
      approach rate: -0.644941 m/s,
      LOS rate: -0.007691 deg/s,
      cmd heading: 331.057958 deg,
      new cmd heading: 331.049882 deg.

2025-06-05T16:48:48.589Z,1749142128.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777910 target range: 284.897308 and range: 284.90 m.
2025-06-05T16:48:48.859Z,1749142128.859 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:48:48.969Z,1749142128.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:48.988Z,1749142128.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 277.060089 m,
      bearing: 337.059172 deg,
      approach rate: -0.649199 m/s,
      LOS rate: -0.007211 deg/s,
      cmd heading: 331.049871 deg,
      new cmd heading: 331.041545 deg.

2025-06-05T16:48:48.989Z,1749142128.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777765 target range: 284.897308 and range: 284.90 m.
2025-06-05T16:48:49.421Z,1749142129.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:49.435Z,1749142129.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 276.770935 m,
      bearing: 337.053729 deg,
      approach rate: -0.639905 m/s,
      LOS rate: -0.012060 deg/s,
      cmd heading: 331.041538 deg,
      new cmd heading: 331.025189 deg.

2025-06-05T16:48:49.439Z,1749142129.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777480 target range: 284.897308 and range: 284.90 m.
2025-06-05T16:48:49.788Z,1749142129.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:49.791Z,1749142129.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:49.793Z,1749142129.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 276.512482 m,
      bearing: 337.048814 deg,
      approach rate: -0.700336 m/s,
      LOS rate: -0.013330 deg/s,
      cmd heading: 331.025200 deg,
      new cmd heading: 331.010442 deg.

2025-06-05T16:48:49.811Z,1749142129.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777222 target range: 284.897308 and range: 284.90 m.
2025-06-05T16:48:49.839Z,1749142129.839 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:49.839Z,1749142129.839 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:49.839Z,1749142129.839 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:50.093Z,1749142130.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251174
2025-06-05T16:48:50.256Z,1749142130.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:50.259Z,1749142130.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 276.192810 m,
      bearing: 337.042313 deg,
      approach rate: -0.686446 m/s,
      LOS rate: -0.013975 deg/s,
      cmd heading: 331.010447 deg,
      new cmd heading: 330.990923 deg.

2025-06-05T16:48:50.260Z,1749142130.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776881 target range: 284.897308 and range: 284.90 m.
2025-06-05T16:48:50.301Z,1749142130.301 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:48:50.343Z,1749142130.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501134
2025-06-05T16:48:50.586Z,1749142130.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:50.589Z,1749142130.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 275.966949 m,
      bearing: 337.037702 deg,
      approach rate: -0.683806 m/s,
      LOS rate: -0.013973 deg/s,
      cmd heading: 330.990913 deg,
      new cmd heading: 330.977066 deg.

2025-06-05T16:48:50.590Z,1749142130.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776639 target range: 284.897308 and range: 284.90 m.
2025-06-05T16:48:50.596Z,1749142130.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753842
2025-06-05T16:48:50.848Z,1749142130.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005941
2025-06-05T16:48:50.974Z,1749142130.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:50.977Z,1749142130.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 275.699707 m,
      bearing: 337.032192 deg,
      approach rate: -0.688446 m/s,
      LOS rate: -0.014208 deg/s,
      cmd heading: 330.977061 deg,
      new cmd heading: 330.960515 deg.

2025-06-05T16:48:50.980Z,1749142130.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776350 target range: 284.897308 and range: 284.90 m.
2025-06-05T16:48:51.101Z,1749142131.101 [DAT](INFO): DAT read: Rx Time:16:48:49.7667

2025-06-05T16:48:51.101Z,1749142131.101 [DAT](INFO): Rx dataTimestamp_ set to:1749142131.101043
2025-06-05T16:48:51.102Z,1749142131.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260202
2025-06-05T16:48:51.351Z,1749142131.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508983
2025-06-05T16:48:51.441Z,1749142131.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.90 m.
2025-06-05T16:48:51.448Z,1749142131.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.897308 m,
      nav range: 275.383789 m,
      bearing: 337.024608 deg,
      approach rate: -0.676536 m/s,
      LOS rate: -0.016259 deg/s,
      cmd heading: 330.960505 deg,
      new cmd heading: 330.937727 deg.

2025-06-05T16:48:51.449Z,1749142131.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775953 target range: 284.897308 and range: 284.90 m.
2025-06-05T16:48:51.615Z,1749142131.615 [DAT](INFO): DAT read: 16:48:49.7667 LVL= 31840, 32753, 29682, 32755, AGC= 63, IDX=  34,-0.20, 0.409,-1.114, 0.212,-0.296, PHS= 0.793,-0.771, 0.504, RAW= 140.0,  -7.3, CAL= 146.2, -17.1, ROT=   3.8,  17.1

2025-06-05T16:48:51.616Z,1749142131.616 [DAT](INFO): got valid direction response:
 16:48:49.7667 LVL= 31840, 32753, 29682, 32755, AGC= 63, IDX=  34,-0.20, 0.409,-1.114, 0.212,-0.296, PHS= 0.793,-0.771, 0.504, RAW= 140.0,  -7.3, CAL= 146.2, -17.1, ROT=   3.8,  17.1

2025-06-05T16:48:51.617Z,1749142131.617 [DAT](INFO): DAT read: Bearing   3.8,  17.1 (Local)

2025-06-05T16:48:51.618Z,1749142131.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.8,  17.1 (Local)

2025-06-05T16:48:51.619Z,1749142131.619 [DAT](INFO): DAT read: Range 10 to 50 : 268.8 m  (Round-trip  358.5 ms) speed  0.6 m/s

2025-06-05T16:48:51.620Z,1749142131.620 [DAT](INFO): DAT read: user:2393>

2025-06-05T16:48:51.620Z,1749142131.620 [DAT](INFO): DAT read: Tx time:16:48:50.8541

2025-06-05T16:48:51.621Z,1749142131.621 [DAT](INFO): Ping request sent.
2025-06-05T16:48:51.621Z,1749142131.621 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:51.621Z,1749142131.621 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:48:51.623Z,1749142131.623 [DAT](INFO): direction in FSK: [0.953692,0.063344,-0.294040]
2025-06-05T16:48:51.623Z,1749142131.623 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:51.623Z,1749142131.623 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:51.626Z,1749142131.626 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:51.627Z,1749142131.627 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:51.855Z,1749142131.855 [DAT](INFO): DAT read: TxSync time:16:48:50.8533

2025-06-05T16:48:51.899Z,1749142131.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 268.799988 m,
      deltaT: 3.780215 s,
      deltaX: -16.100006 m,
      approachRate: -4.259018 m/s,
      rangeRepo size: 4

2025-06-05T16:48:51.911Z,1749142131.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 266.638214 m,
      bearing: 335.970922 deg,
      lat: 36.906478 deg,
      lon: -122.115995 deg,
      deltaT: 7.809913 s,
      deltaX: -18.259094 m,
      approachRate: -2.337938 m/s,
      posRepo size: 4

2025-06-05T16:48:51.912Z,1749142131.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:51.924Z,1749142131.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 275.096741 m,
      bearing: 337.017671 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016259 deg/s,
      cmd heading: 330.937719 deg,
      new cmd heading: 330.915847 deg.

2025-06-05T16:48:51.925Z,1749142131.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775571 target range: 266.638214 and range: 268.80 m.
2025-06-05T16:48:52.357Z,1749142132.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:52.359Z,1749142132.359 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:52.359Z,1749142132.359 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:52.359Z,1749142132.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:52.367Z,1749142132.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:52.378Z,1749142132.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 274.738953 m,
      bearing: 337.010241 deg,
      approach rate: -0.748953 m/s,
      LOS rate: -0.015573 deg/s,
      cmd heading: 330.915835 deg,
      new cmd heading: 330.893517 deg.

2025-06-05T16:48:52.387Z,1749142132.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775181 target range: 266.638214 and range: 268.80 m.
2025-06-05T16:48:52.613Z,1749142132.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991440
2025-06-05T16:48:52.749Z,1749142132.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:52.757Z,1749142132.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 274.504578 m,
      bearing: 337.005373 deg,
      approach rate: -0.613917 m/s,
      LOS rate: -0.012761 deg/s,
      cmd heading: 330.893514 deg,
      new cmd heading: 330.878898 deg.

2025-06-05T16:48:52.758Z,1749142132.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774926 target range: 266.638214 and range: 268.80 m.
2025-06-05T16:48:52.865Z,1749142132.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243830
2025-06-05T16:48:53.099Z,1749142133.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:53.102Z,1749142133.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 274.220795 m,
      bearing: 336.999490 deg,
      approach rate: -0.812838 m/s,
      LOS rate: -0.016869 deg/s,
      cmd heading: 330.878897 deg,
      new cmd heading: 330.861229 deg.

2025-06-05T16:48:53.103Z,1749142133.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774618 target range: 266.638214 and range: 268.80 m.
2025-06-05T16:48:53.115Z,1749142133.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494514
2025-06-05T16:48:53.367Z,1749142133.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746354
2025-06-05T16:48:53.576Z,1749142133.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:53.587Z,1749142133.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 273.893097 m,
      bearing: 336.992549 deg,
      approach rate: -0.686463 m/s,
      LOS rate: -0.014557 deg/s,
      cmd heading: 330.861221 deg,
      new cmd heading: 330.840373 deg.

2025-06-05T16:48:53.588Z,1749142133.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774254 target range: 266.638214 and range: 268.80 m.
2025-06-05T16:48:53.619Z,1749142133.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998302
2025-06-05T16:48:53.872Z,1749142133.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251037
2025-06-05T16:48:53.947Z,1749142133.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:53.950Z,1749142133.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 273.649048 m,
      bearing: 336.987312 deg,
      approach rate: -0.672984 m/s,
      LOS rate: -0.014455 deg/s,
      cmd heading: 330.840375 deg,
      new cmd heading: 330.824650 deg.

2025-06-05T16:48:53.951Z,1749142133.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773979 target range: 266.638214 and range: 268.80 m.
2025-06-05T16:48:54.123Z,1749142134.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502448
2025-06-05T16:48:54.357Z,1749142134.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:54.360Z,1749142134.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 273.353180 m,
      bearing: 336.982891 deg,
      approach rate: -0.706976 m/s,
      LOS rate: -0.010574 deg/s,
      cmd heading: 330.824638 deg,
      new cmd heading: 330.811363 deg.

2025-06-05T16:48:54.361Z,1749142134.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773747 target range: 266.638214 and range: 268.80 m.
2025-06-05T16:48:54.377Z,1749142134.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756298
2025-06-05T16:48:54.631Z,1749142134.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010399
2025-06-05T16:48:54.814Z,1749142134.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:54.816Z,1749142134.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:54.820Z,1749142134.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 273.043091 m,
      bearing: 336.978268 deg,
      approach rate: -0.674738 m/s,
      LOS rate: -0.010071 deg/s,
      cmd heading: 330.811361 deg,
      new cmd heading: 330.797476 deg.

2025-06-05T16:48:54.821Z,1749142134.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773505 target range: 266.638214 and range: 268.80 m.
2025-06-05T16:48:54.884Z,1749142134.884 [DAT](INFO): DAT read: Rx Time:16:48:53.6132

2025-06-05T16:48:54.884Z,1749142134.884 [DAT](INFO): Rx dataTimestamp_ set to:1749142134.883755
2025-06-05T16:48:54.885Z,1749142134.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264136
2025-06-05T16:48:55.135Z,1749142135.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514121
2025-06-05T16:48:55.301Z,1749142135.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:55.308Z,1749142135.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 272.716248 m,
      bearing: 336.973384 deg,
      approach rate: -0.674972 m/s,
      LOS rate: -0.010099 deg/s,
      cmd heading: 330.797482 deg,
      new cmd heading: 330.782811 deg.

2025-06-05T16:48:55.309Z,1749142135.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773249 target range: 266.638214 and range: 268.80 m.
2025-06-05T16:48:55.390Z,1749142135.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768933
2025-06-05T16:48:55.640Z,1749142135.640 [DAT](INFO): DAT read: Range 10 to 50 : 266.2 m  (Round-trip  355.0 ms) speed  0.4 m/s

2025-06-05T16:48:55.641Z,1749142135.641 [DAT](INFO): DAT read: user:2394>

2025-06-05T16:48:55.642Z,1749142135.642 [DAT](INFO): DAT read: Tx time:16:48:54.7041

2025-06-05T16:48:55.642Z,1749142135.642 [DAT](INFO): Ping request sent.
2025-06-05T16:48:55.642Z,1749142135.642 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:55.643Z,1749142135.643 [DAT](INFO): DAT read: TxSync time:16:48:54.7033

2025-06-05T16:48:55.643Z,1749142135.643 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:48:55.643Z,1749142135.643 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:55.644Z,1749142135.644 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:55.926Z,1749142135.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 266.200012 m,
      deltaT: 4.035255 s,
      deltaX: -2.599976 m,
      approachRate: -0.644315 m/s,
      rangeRepo size: 4

2025-06-05T16:48:55.927Z,1749142135.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:55.931Z,1749142135.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 272.306549 m,
      bearing: 336.968816 deg,
      approach rate: -0.656184 m/s,
      LOS rate: -0.007328 deg/s,
      cmd heading: 330.782810 deg,
      new cmd heading: 330.769084 deg.

2025-06-05T16:48:55.932Z,1749142135.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773010 target range: 266.638214 and range: 266.20 m.
2025-06-05T16:48:56.407Z,1749142136.407 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:48:56.413Z,1749142136.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:56.421Z,1749142136.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 272.015594 m,
      bearing: 336.967732 deg,
      approach rate: -0.596907 m/s,
      LOS rate: -0.002226 deg/s,
      cmd heading: 330.769095 deg,
      new cmd heading: 330.765840 deg.

2025-06-05T16:48:56.422Z,1749142136.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772953 target range: 266.638214 and range: 266.20 m.
2025-06-05T16:48:56.783Z,1749142136.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:56.786Z,1749142136.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 271.771271 m,
      bearing: 336.966834 deg,
      approach rate: -0.659127 m/s,
      LOS rate: -0.002425 deg/s,
      cmd heading: 330.765844 deg,
      new cmd heading: 330.763148 deg.

2025-06-05T16:48:56.787Z,1749142136.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772906 target range: 266.638214 and range: 266.20 m.
2025-06-05T16:48:57.174Z,1749142137.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:57.176Z,1749142137.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:57.223Z,1749142137.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 271.510864 m,
      bearing: 336.965669 deg,
      approach rate: -0.662475 m/s,
      LOS rate: -0.002965 deg/s,
      cmd heading: 330.763139 deg,
      new cmd heading: 330.759643 deg.

2025-06-05T16:48:57.239Z,1749142137.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772845 target range: 266.638214 and range: 266.20 m.
2025-06-05T16:48:57.403Z,1749142137.403 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:48:57.403Z,1749142137.403 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:48:57.403Z,1749142137.403 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:48:57.657Z,1749142137.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014705
2025-06-05T16:48:57.809Z,1749142137.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:57.812Z,1749142137.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 271.117432 m,
      bearing: 336.965001 deg,
      approach rate: -0.622014 m/s,
      LOS rate: -0.001057 deg/s,
      cmd heading: 330.759642 deg,
      new cmd heading: 330.757636 deg.

2025-06-05T16:48:57.814Z,1749142137.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772810 target range: 266.638214 and range: 266.20 m.
2025-06-05T16:48:57.816Z,1749142137.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 58.886642 m.
2025-06-05T16:48:57.909Z,1749142137.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266413
2025-06-05T16:48:58.159Z,1749142138.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516842
2025-06-05T16:48:58.355Z,1749142138.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:58.357Z,1749142138.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 270.788208 m,
      bearing: 336.964653 deg,
      approach rate: -0.603784 m/s,
      LOS rate: -0.000641 deg/s,
      cmd heading: 330.757648 deg,
      new cmd heading: 330.756600 deg.

2025-06-05T16:48:58.380Z,1749142138.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772792 target range: 266.638214 and range: 266.20 m.
2025-06-05T16:48:58.411Z,1749142138.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768863
2025-06-05T16:48:58.666Z,1749142138.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023637
2025-06-05T16:48:58.762Z,1749142138.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:58.767Z,1749142138.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 270.540314 m,
      bearing: 336.964389 deg,
      approach rate: -0.607757 m/s,
      LOS rate: -0.000646 deg/s,
      cmd heading: 330.756610 deg,
      new cmd heading: 330.755819 deg.

2025-06-05T16:48:58.768Z,1749142138.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772778 target range: 266.638214 and range: 266.20 m.
2025-06-05T16:48:58.920Z,1749142138.920 [DAT](INFO): DAT read: Rx Time:16:48:57.4601

2025-06-05T16:48:58.920Z,1749142138.920 [DAT](INFO): Rx dataTimestamp_ set to:1749142138.920036
2025-06-05T16:48:58.921Z,1749142138.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278559
2025-06-05T16:48:59.171Z,1749142139.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528877
2025-06-05T16:48:59.216Z,1749142139.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:48:59.228Z,1749142139.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.64 m.
2025-06-05T16:48:59.249Z,1749142139.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.638214 m,
      nav range: 270.268219 m,
      bearing: 336.964369 deg,
      approach rate: -0.596452 m/s,
      LOS rate: -0.000043 deg/s,
      cmd heading: 330.755817 deg,
      new cmd heading: 330.755758 deg.

2025-06-05T16:48:59.264Z,1749142139.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772777 target range: 266.638214 and range: 266.20 m.
2025-06-05T16:48:59.432Z,1749142139.432 [DAT](INFO): DAT read: 16:48:57.4601 LVL= 30416, 32753, 28850, 32755, AGC= 65, IDX= 415, 0.39, 2.656, 0.965, 2.494, 1.892, PHS= 0.852,-0.880, 0.599, RAW= 142.2,  -7.1, CAL= 148.4, -16.4, ROT=   1.6,  16.4

2025-06-05T16:48:59.433Z,1749142139.433 [DAT](INFO): got valid direction response:
 16:48:57.4601 LVL= 30416, 32753, 28850, 32755, AGC= 65, IDX= 415, 0.39, 2.656, 0.965, 2.494, 1.892, PHS= 0.852,-0.880, 0.599, RAW= 142.2,  -7.1, CAL= 148.4, -16.4, ROT=   1.6,  16.4

2025-06-05T16:48:59.434Z,1749142139.434 [DAT](INFO): DAT read: Bearing   1.6,  16.4 (Local)

2025-06-05T16:48:59.435Z,1749142139.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  16.4 (Local)

2025-06-05T16:48:59.436Z,1749142139.436 [DAT](INFO): DAT read: Range 10 to 50 : 263.9 m  (Round-trip  351.9 ms) speed  0.4 m/s

2025-06-05T16:48:59.437Z,1749142139.437 [DAT](INFO): DAT read: user:2395>

2025-06-05T16:48:59.438Z,1749142139.438 [DAT](INFO): DAT read: Tx time:16:48:58.5541

2025-06-05T16:48:59.445Z,1749142139.445 [DAT](INFO): Ping request sent.
2025-06-05T16:48:59.446Z,1749142139.446 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:48:59.451Z,1749142139.451 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:48:59.452Z,1749142139.452 [DAT](INFO): direction in FSK: [0.958940,0.026786,-0.282341]
2025-06-05T16:48:59.452Z,1749142139.452 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:59.452Z,1749142139.452 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:59.469Z,1749142139.469 [DAT](INFO): publishing transmit ping time
2025-06-05T16:48:59.469Z,1749142139.469 [DAT](INFO): publishing direction and range info
2025-06-05T16:48:59.677Z,1749142139.677 [DAT](INFO): DAT read: TxSync time:16:48:58.5533

2025-06-05T16:48:59.826Z,1749142139.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 263.899994 m,
      deltaT: 3.784964 s,
      deltaX: -2.300018 m,
      approachRate: -0.607672 m/s,
      rangeRepo size: 4

2025-06-05T16:48:59.829Z,1749142139.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 261.768097 m,
      bearing: 333.737209 deg,
      lat: 36.906478 deg,
      lon: -122.115995 deg,
      deltaT: 7.820219 s,
      deltaX: -4.870117 m,
      approachRate: -0.622760 m/s,
      posRepo size: 4

2025-06-05T16:48:59.839Z,1749142139.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.77 m.
2025-06-05T16:48:59.841Z,1749142139.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.768097 m,
      nav range: 269.930176 m,
      bearing: 336.964162 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000043 deg/s,
      cmd heading: 330.755763 deg,
      new cmd heading: 330.755685 deg.

2025-06-05T16:48:59.851Z,1749142139.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772776 target range: 261.768097 and range: 263.90 m.
2025-06-05T16:49:00.394Z,1749142140.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.77 m.
2025-06-05T16:49:00.399Z,1749142140.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.768097 m,
      nav range: 269.549072 m,
      bearing: 336.963040 deg,
      approach rate: -0.661031 m/s,
      LOS rate: -0.001949 deg/s,
      cmd heading: 330.755681 deg,
      new cmd heading: 330.752310 deg.

2025-06-05T16:49:00.400Z,1749142140.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772717 target range: 261.768097 and range: 263.90 m.
2025-06-05T16:49:00.853Z,1749142140.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.77 m.
2025-06-05T16:49:00.860Z,1749142140.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.768097 m,
      nav range: 269.281311 m,
      bearing: 336.962371 deg,
      approach rate: -0.583085 m/s,
      LOS rate: -0.001456 deg/s,
      cmd heading: 330.752320 deg,
      new cmd heading: 330.750314 deg.

2025-06-05T16:49:00.861Z,1749142140.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772682 target range: 261.768097 and range: 263.90 m.
2025-06-05T16:49:01.369Z,1749142141.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:01.375Z,1749142141.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.77 m.
2025-06-05T16:49:01.382Z,1749142141.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.768097 m,
      nav range: 268.959076 m,
      bearing: 336.961515 deg,
      approach rate: -0.617189 m/s,
      LOS rate: -0.001643 deg/s,
      cmd heading: 330.750326 deg,
      new cmd heading: 330.747752 deg.

2025-06-05T16:49:01.383Z,1749142141.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772637 target range: 261.768097 and range: 263.90 m.
2025-06-05T16:49:01.439Z,1749142141.439 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:01.439Z,1749142141.439 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:01.440Z,1749142141.440 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:01.693Z,1749142141.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254830
2025-06-05T16:49:01.809Z,1749142141.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.77 m.
2025-06-05T16:49:01.816Z,1749142141.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.768097 m,
      nav range: 268.674774 m,
      bearing: 336.960114 deg,
      approach rate: -0.655032 m/s,
      LOS rate: -0.003231 deg/s,
      cmd heading: 330.747758 deg,
      new cmd heading: 330.743551 deg.

2025-06-05T16:49:01.817Z,1749142141.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772564 target range: 261.768097 and range: 263.90 m.
2025-06-05T16:49:01.943Z,1749142141.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505098
2025-06-05T16:49:02.115Z,1749142142.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.77 m.
2025-06-05T16:49:02.118Z,1749142142.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.768097 m,
      nav range: 268.483185 m,
      bearing: 336.959217 deg,
      approach rate: -0.626467 m/s,
      LOS rate: -0.002934 deg/s,
      cmd heading: 330.743550 deg,
      new cmd heading: 330.740859 deg.

2025-06-05T16:49:02.119Z,1749142142.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772517 target range: 261.768097 and range: 263.90 m.
2025-06-05T16:49:02.197Z,1749142142.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759311
2025-06-05T16:49:02.448Z,1749142142.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009655
2025-06-05T16:49:02.595Z,1749142142.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.77 m.
2025-06-05T16:49:02.605Z,1749142142.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.768097 m,
      nav range: 268.174957 m,
      bearing: 336.955239 deg,
      approach rate: -0.642755 m/s,
      LOS rate: -0.008305 deg/s,
      cmd heading: 330.740846 deg,
      new cmd heading: 330.728898 deg.

2025-06-05T16:49:02.616Z,1749142142.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772308 target range: 261.768097 and range: 263.90 m.
2025-06-05T16:49:02.701Z,1749142142.701 [DAT](INFO): DAT read: Rx Time:16:49:01.3067

2025-06-05T16:49:02.702Z,1749142142.702 [DAT](INFO): Rx dataTimestamp_ set to:1749142142.701134
2025-06-05T16:49:02.703Z,1749142142.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264654
2025-06-05T16:49:02.922Z,1749142142.922 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-05T16:49:02.951Z,1749142142.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512931
2025-06-05T16:49:03.009Z,1749142143.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.77 m.
2025-06-05T16:49:03.012Z,1749142143.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.768097 m,
      nav range: 267.898285 m,
      bearing: 336.951755 deg,
      approach rate: -0.668024 m/s,
      LOS rate: -0.008421 deg/s,
      cmd heading: 330.728906 deg,
      new cmd heading: 330.718443 deg.

2025-06-05T16:49:03.014Z,1749142143.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772126 target range: 261.768097 and range: 263.90 m.
2025-06-05T16:49:03.209Z,1749142143.209 [DAT](INFO): DAT read: 16:49:01.3067 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 413,-0.32, 2.044, 0.400, 1.761, 1.303, PHS= 0.830,-0.856, 0.456, RAW= 137.8,  -5.7, CAL= 143.5, -15.7, ROT=   6.5,  15.7

2025-06-05T16:49:03.210Z,1749142143.210 [DAT](INFO): got valid direction response:
 16:49:01.3067 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 413,-0.32, 2.044, 0.400, 1.761, 1.303, PHS= 0.830,-0.856, 0.456, RAW= 137.8,  -5.7, CAL= 143.5, -15.7, ROT=   6.5,  15.7

2025-06-05T16:49:03.219Z,1749142143.219 [DAT](INFO): DAT read: Bearing   6.5,  15.7 (Local)

2025-06-05T16:49:03.220Z,1749142143.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.5,  15.7 (Local)

2025-06-05T16:49:03.221Z,1749142143.221 [DAT](INFO): DAT read: Range 10 to 50 : 261.3 m  (Round-trip  348.5 ms) speed  0.6 m/s

2025-06-05T16:49:03.222Z,1749142143.222 [DAT](INFO): DAT read: user:2396>

2025-06-05T16:49:03.232Z,1749142143.232 [DAT](INFO): DAT read: Tx time:16:49:02.4041

2025-06-05T16:49:03.232Z,1749142143.232 [DAT](INFO): Ping request sent.
2025-06-05T16:49:03.233Z,1749142143.233 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:03.233Z,1749142143.233 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:49:03.234Z,1749142143.234 [DAT](INFO): direction in FSK: [0.956503,0.108980,-0.270600]
2025-06-05T16:49:03.234Z,1749142143.234 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:03.235Z,1749142143.235 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:03.239Z,1749142143.239 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:03.239Z,1749142143.239 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:03.455Z,1749142143.455 [DAT](INFO): DAT read: TxSync time:16:49:02.4033

2025-06-05T16:49:03.503Z,1749142143.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 261.299988 m,
      deltaT: 3.779060 s,
      deltaX: -2.600006 m,
      approachRate: -0.688003 m/s,
      rangeRepo size: 4

2025-06-05T16:49:03.505Z,1749142143.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 259.186188 m,
      bearing: 338.113082 deg,
      lat: 36.906415 deg,
      lon: -122.115995 deg,
      deltaT: 3.779060 s,
      deltaX: -2.581909 m,
      approachRate: -0.683215 m/s,
      posRepo size: 4

2025-06-05T16:49:03.505Z,1749142143.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.19 m.
2025-06-05T16:49:03.513Z,1749142143.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.186188 m,
      nav range: 261.161407 m,
      bearing: 336.345455 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008421 deg/s,
      cmd heading: 330.718443 deg,
      new cmd heading: 330.706094 deg.

2025-06-05T16:49:03.519Z,1749142143.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771910 target range: 259.186188 and range: 261.30 m.
2025-06-05T16:49:03.865Z,1749142143.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:03.884Z,1749142143.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.19 m.
2025-06-05T16:49:03.895Z,1749142143.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.186188 m,
      nav range: 260.898254 m,
      bearing: 336.339751 deg,
      approach rate: -0.681534 m/s,
      LOS rate: -0.014788 deg/s,
      cmd heading: 330.706094 deg,
      new cmd heading: 330.688964 deg.

2025-06-05T16:49:03.897Z,1749142143.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771611 target range: 259.186188 and range: 261.30 m.
2025-06-05T16:49:03.960Z,1749142143.960 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:03.960Z,1749142143.960 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:03.960Z,1749142143.960 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:04.211Z,1749142144.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978371
2025-06-05T16:49:04.304Z,1749142144.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.19 m.
2025-06-05T16:49:04.312Z,1749142144.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.186188 m,
      nav range: 260.617676 m,
      bearing: 336.333693 deg,
      approach rate: -0.668782 m/s,
      LOS rate: -0.014455 deg/s,
      cmd heading: 330.688964 deg,
      new cmd heading: 330.670771 deg.

2025-06-05T16:49:04.319Z,1749142144.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771294 target range: 259.186188 and range: 261.30 m.
2025-06-05T16:49:04.465Z,1749142144.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231776
2025-06-05T16:49:04.715Z,1749142144.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482819
2025-06-05T16:49:04.723Z,1749142144.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.19 m.
2025-06-05T16:49:04.730Z,1749142144.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.186188 m,
      nav range: 260.319702 m,
      bearing: 336.325481 deg,
      approach rate: -0.709267 m/s,
      LOS rate: -0.019571 deg/s,
      cmd heading: 330.670768 deg,
      new cmd heading: 330.646102 deg.

2025-06-05T16:49:04.731Z,1749142144.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770863 target range: 259.186188 and range: 261.30 m.
2025-06-05T16:49:04.969Z,1749142144.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736614
2025-06-05T16:49:05.075Z,1749142145.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.19 m.
2025-06-05T16:49:05.078Z,1749142145.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.186188 m,
      nav range: 260.056152 m,
      bearing: 336.318071 deg,
      approach rate: -0.749349 m/s,
      LOS rate: -0.021088 deg/s,
      cmd heading: 330.646097 deg,
      new cmd heading: 330.623847 deg.

2025-06-05T16:49:05.081Z,1749142145.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770475 target range: 259.186188 and range: 261.30 m.
2025-06-05T16:49:05.219Z,1749142145.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986556
2025-06-05T16:49:05.476Z,1749142145.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243067
2025-06-05T16:49:05.509Z,1749142145.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.19 m.
2025-06-05T16:49:05.513Z,1749142145.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.186188 m,
      nav range: 259.748596 m,
      bearing: 336.308925 deg,
      approach rate: -0.709098 m/s,
      LOS rate: -0.021114 deg/s,
      cmd heading: 330.623858 deg,
      new cmd heading: 330.596385 deg.

2025-06-05T16:49:05.515Z,1749142145.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769995 target range: 259.186188 and range: 261.30 m.
2025-06-05T16:49:05.728Z,1749142145.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495082
2025-06-05T16:49:05.886Z,1749142145.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:05.888Z,1749142145.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.19 m.
2025-06-05T16:49:05.891Z,1749142145.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.186188 m,
      nav range: 259.489014 m,
      bearing: 336.301153 deg,
      approach rate: -0.684851 m/s,
      LOS rate: -0.020524 deg/s,
      cmd heading: 330.596373 deg,
      new cmd heading: 330.573036 deg.

2025-06-05T16:49:05.892Z,1749142145.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769588 target range: 259.186188 and range: 261.30 m.
2025-06-05T16:49:05.981Z,1749142145.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748192
2025-06-05T16:49:06.232Z,1749142146.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999222
2025-06-05T16:49:06.334Z,1749142146.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.19 m.
2025-06-05T16:49:06.337Z,1749142146.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.186188 m,
      nav range: 259.176544 m,
      bearing: 336.291761 deg,
      approach rate: -0.707033 m/s,
      LOS rate: -0.021276 deg/s,
      cmd heading: 330.573042 deg,
      new cmd heading: 330.544833 deg.

2025-06-05T16:49:06.338Z,1749142146.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769095 target range: 259.186188 and range: 261.30 m.
2025-06-05T16:49:06.484Z,1749142146.484 [DAT](INFO): DAT read: Rx Time:16:49:05.1539

2025-06-05T16:49:06.485Z,1749142146.485 [DAT](INFO): Rx dataTimestamp_ set to:1749142146.484296
2025-06-05T16:49:06.486Z,1749142146.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252908
2025-06-05T16:49:06.735Z,1749142146.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502706
2025-06-05T16:49:06.752Z,1749142146.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.19 m.
2025-06-05T16:49:06.759Z,1749142146.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.186188 m,
      nav range: 258.881500 m,
      bearing: 336.283373 deg,
      approach rate: -0.699498 m/s,
      LOS rate: -0.019911 deg/s,
      cmd heading: 330.544819 deg,
      new cmd heading: 330.519624 deg.

2025-06-05T16:49:06.760Z,1749142146.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768656 target range: 259.186188 and range: 261.30 m.
2025-06-05T16:49:06.994Z,1749142146.994 [DAT](INFO): DAT read: 16:49:05.1539 LVL= 25520, 27217, 26258, 32755, AGC= 64, IDX= 415, 0.08, 1.355,-0.012, 1.400, 0.387, PHS= 1.056,-0.351, 1.011, RAW= 148.4, -23.6, CAL= 153.0, -30.3, ROT= 357.0,  30.3

2025-06-05T16:49:06.995Z,1749142146.995 [DAT](INFO): got valid direction response:
 16:49:05.1539 LVL= 25520, 27217, 26258, 32755, AGC= 64, IDX= 415, 0.08, 1.355,-0.012, 1.400, 0.387, PHS= 1.056,-0.351, 1.011, RAW= 148.4, -23.6, CAL= 153.0, -30.3, ROT= 357.0,  30.3

2025-06-05T16:49:06.997Z,1749142146.997 [DAT](INFO): DAT read: Bearing 357.0,  30.3 (Local)

2025-06-05T16:49:06.997Z,1749142146.997 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,  30.3 (Local)

2025-06-05T16:49:07.013Z,1749142147.013 [DAT](INFO): DAT read: Range 10 to 50 : 259.2 m  (Round-trip  345.7 ms) speed  0.4 m/s

2025-06-05T16:49:07.014Z,1749142147.014 [DAT](INFO): DAT read: user:2397>

2025-06-05T16:49:07.015Z,1749142147.015 [DAT](INFO): DAT read: Tx time:16:49:06.2541

2025-06-05T16:49:07.015Z,1749142147.015 [DAT](INFO): Ping request sent.
2025-06-05T16:49:07.015Z,1749142147.015 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:07.016Z,1749142147.016 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:49:07.017Z,1749142147.017 [DAT](INFO): direction in FSK: [0.862212,-0.045187,-0.504528]
2025-06-05T16:49:07.017Z,1749142147.017 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:07.017Z,1749142147.017 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:07.021Z,1749142147.021 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:07.021Z,1749142147.021 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:07.144Z,1749142147.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 259.200012 m,
      deltaT: 3.784399 s,
      deltaX: -2.099976 m,
      approachRate: -0.554903 m/s,
      rangeRepo size: 4

2025-06-05T16:49:07.155Z,1749142147.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 257.098602 m,
      bearing: 330.847017 deg,
      lat: 36.906382 deg,
      lon: -122.116004 deg,
      deltaT: 3.784399 s,
      deltaX: -2.087585 m,
      approachRate: -0.551629 m/s,
      posRepo size: 4

2025-06-05T16:49:07.155Z,1749142147.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:07.163Z,1749142147.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 255.520981 m,
      bearing: 335.790661 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019911 deg/s,
      cmd heading: 330.519629 deg,
      new cmd heading: 330.496257 deg.

2025-06-05T16:49:07.164Z,1749142147.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768248 target range: 257.098602 and range: 259.20 m.
2025-06-05T16:49:07.240Z,1749142147.240 [DAT](INFO): DAT read: TxSync time:16:49:06.2533

2025-06-05T16:49:07.571Z,1749142147.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:07.573Z,1749142147.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 255.219330 m,
      bearing: 335.781525 deg,
      approach rate: -0.712577 m/s,
      LOS rate: -0.021607 deg/s,
      cmd heading: 330.496270 deg,
      new cmd heading: 330.468830 deg.

2025-06-05T16:49:07.579Z,1749142147.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767769 target range: 257.098602 and range: 259.20 m.
2025-06-05T16:49:07.920Z,1749142147.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:07.927Z,1749142147.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:07.935Z,1749142147.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 254.974792 m,
      bearing: 335.774180 deg,
      approach rate: -0.686608 m/s,
      LOS rate: -0.020642 deg/s,
      cmd heading: 330.468840 deg,
      new cmd heading: 330.446785 deg.

2025-06-05T16:49:07.936Z,1749142147.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767385 target range: 257.098602 and range: 259.20 m.
2025-06-05T16:49:07.997Z,1749142147.997 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:07.997Z,1749142147.997 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:07.997Z,1749142147.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:08.248Z,1749142148.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232529
2025-06-05T16:49:08.316Z,1749142148.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:08.331Z,1749142148.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 254.688705 m,
      bearing: 335.765602 deg,
      approach rate: -0.727335 m/s,
      LOS rate: -0.021833 deg/s,
      cmd heading: 330.446792 deg,
      new cmd heading: 330.421029 deg.

2025-06-05T16:49:08.332Z,1749142148.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766935 target range: 257.098602 and range: 259.20 m.
2025-06-05T16:49:08.499Z,1749142148.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483837
2025-06-05T16:49:08.753Z,1749142148.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737708
2025-06-05T16:49:08.755Z,1749142148.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:08.759Z,1749142148.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 254.390579 m,
      bearing: 335.757900 deg,
      approach rate: -0.677996 m/s,
      LOS rate: -0.017536 deg/s,
      cmd heading: 330.421029 deg,
      new cmd heading: 330.397896 deg.

2025-06-05T16:49:08.760Z,1749142148.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766531 target range: 257.098602 and range: 259.20 m.
2025-06-05T16:49:09.003Z,1749142149.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987995
2025-06-05T16:49:09.119Z,1749142149.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:09.122Z,1749142149.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 254.138000 m,
      bearing: 335.751324 deg,
      approach rate: -0.694930 m/s,
      LOS rate: -0.018112 deg/s,
      cmd heading: 330.397888 deg,
      new cmd heading: 330.378139 deg.

2025-06-05T16:49:09.123Z,1749142149.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766186 target range: 257.098602 and range: 259.20 m.
2025-06-05T16:49:09.255Z,1749142149.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240014
2025-06-05T16:49:09.507Z,1749142149.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491832
2025-06-05T16:49:09.587Z,1749142149.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:09.589Z,1749142149.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 253.834244 m,
      bearing: 335.745844 deg,
      approach rate: -0.672912 m/s,
      LOS rate: -0.012153 deg/s,
      cmd heading: 330.378135 deg,
      new cmd heading: 330.361677 deg.

2025-06-05T16:49:09.594Z,1749142149.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765899 target range: 257.098602 and range: 259.20 m.
2025-06-05T16:49:09.759Z,1749142149.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743676
2025-06-05T16:49:09.951Z,1749142149.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:09.953Z,1749142149.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:09.960Z,1749142149.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 253.583725 m,
      bearing: 335.741331 deg,
      approach rate: -0.653845 m/s,
      LOS rate: -0.011792 deg/s,
      cmd heading: 330.361688 deg,
      new cmd heading: 330.348134 deg.

2025-06-05T16:49:09.961Z,1749142149.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765663 target range: 257.098602 and range: 259.20 m.
2025-06-05T16:49:10.013Z,1749142150.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996999
2025-06-05T16:49:10.264Z,1749142150.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248564
2025-06-05T16:49:10.386Z,1749142150.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:10.403Z,1749142150.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 253.301437 m,
      bearing: 335.736299 deg,
      approach rate: -0.653191 m/s,
      LOS rate: -0.011655 deg/s,
      cmd heading: 330.348137 deg,
      new cmd heading: 330.333027 deg.

2025-06-05T16:49:10.404Z,1749142150.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765399 target range: 257.098602 and range: 259.20 m.
2025-06-05T16:49:10.515Z,1749142150.515 [DAT](INFO): DAT read: Rx Time:16:49:09.0208

2025-06-05T16:49:10.516Z,1749142150.516 [DAT](INFO): Rx dataTimestamp_ set to:1749142150.515314
2025-06-05T16:49:10.516Z,1749142150.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500787
2025-06-05T16:49:10.767Z,1749142150.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751872
2025-06-05T16:49:10.804Z,1749142150.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:10.816Z,1749142150.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 253.034042 m,
      bearing: 335.732139 deg,
      approach rate: -0.638841 m/s,
      LOS rate: -0.009950 deg/s,
      cmd heading: 330.333029 deg,
      new cmd heading: 330.320534 deg.

2025-06-05T16:49:10.817Z,1749142150.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765181 target range: 257.098602 and range: 259.20 m.
2025-06-05T16:49:11.020Z,1749142151.020 [DAT](INFO): DAT read: Range 10 to 50 : 271.8 m  (Round-trip  362.5 ms) speed  0.4 m/s

2025-06-05T16:49:11.021Z,1749142151.021 [DAT](INFO): DAT read: user:2398>

2025-06-05T16:49:11.022Z,1749142151.022 [DAT](INFO): DAT read: Tx time:16:49:10.1041

2025-06-05T16:49:11.022Z,1749142151.022 [DAT](INFO): Ping request sent.
2025-06-05T16:49:11.022Z,1749142151.022 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:11.023Z,1749142151.023 [DAT](INFO): DAT read: TxSync time:16:49:10.1034

2025-06-05T16:49:11.023Z,1749142151.023 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:49:11.023Z,1749142151.023 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:11.024Z,1749142151.024 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:11.177Z,1749142151.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 271.799988 m,
      deltaT: 4.031498 s,
      deltaX: 12.599976 m,
      approachRate: 3.125383 m/s,
      rangeRepo size: 4

2025-06-05T16:49:11.177Z,1749142151.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:11.185Z,1749142151.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 252.772644 m,
      bearing: 335.728111 deg,
      approach rate: -0.703169 m/s,
      LOS rate: -0.010848 deg/s,
      cmd heading: 330.320543 deg,
      new cmd heading: 330.308446 deg.

2025-06-05T16:49:11.186Z,1749142151.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764970 target range: 257.098602 and range: 271.80 m.
2025-06-05T16:49:11.604Z,1749142151.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:11.611Z,1749142151.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 252.505798 m,
      bearing: 335.726395 deg,
      approach rate: -0.623662 m/s,
      LOS rate: -0.004014 deg/s,
      cmd heading: 330.308440 deg,
      new cmd heading: 330.303288 deg.

2025-06-05T16:49:11.612Z,1749142151.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764880 target range: 257.098602 and range: 271.80 m.
2025-06-05T16:49:11.947Z,1749142151.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:11.951Z,1749142151.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 252.266769 m,
      bearing: 335.724846 deg,
      approach rate: -0.695596 m/s,
      LOS rate: -0.004511 deg/s,
      cmd heading: 330.303276 deg,
      new cmd heading: 330.298626 deg.

2025-06-05T16:49:11.952Z,1749142151.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764799 target range: 257.098602 and range: 271.80 m.
2025-06-05T16:49:12.351Z,1749142152.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:12.354Z,1749142152.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:12.357Z,1749142152.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 252.003632 m,
      bearing: 335.723043 deg,
      approach rate: -0.647969 m/s,
      LOS rate: -0.004445 deg/s,
      cmd heading: 330.298632 deg,
      new cmd heading: 330.293216 deg.

2025-06-05T16:49:12.358Z,1749142152.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764704 target range: 257.098602 and range: 271.80 m.
2025-06-05T16:49:12.532Z,1749142152.532 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:12.532Z,1749142152.532 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:12.532Z,1749142152.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:12.785Z,1749142152.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763066
2025-06-05T16:49:12.803Z,1749142152.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:12.806Z,1749142152.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 251.714279 m,
      bearing: 335.720349 deg,
      approach rate: -0.643759 m/s,
      LOS rate: -0.006002 deg/s,
      cmd heading: 330.293222 deg,
      new cmd heading: 330.285130 deg.

2025-06-05T16:49:12.807Z,1749142152.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764563 target range: 257.098602 and range: 271.80 m.
2025-06-05T16:49:13.035Z,1749142153.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012910
2025-06-05T16:49:13.161Z,1749142153.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:13.166Z,1749142153.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 251.485474 m,
      bearing: 335.718177 deg,
      approach rate: -0.639370 m/s,
      LOS rate: -0.006074 deg/s,
      cmd heading: 330.285135 deg,
      new cmd heading: 330.278615 deg.

2025-06-05T16:49:13.167Z,1749142153.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764449 target range: 257.098602 and range: 271.80 m.
2025-06-05T16:49:13.287Z,1749142153.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264926
2025-06-05T16:49:13.540Z,1749142153.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517767
2025-06-05T16:49:13.620Z,1749142153.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:13.623Z,1749142153.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 251.194687 m,
      bearing: 335.716352 deg,
      approach rate: -0.633557 m/s,
      LOS rate: -0.003980 deg/s,
      cmd heading: 330.278606 deg,
      new cmd heading: 330.273125 deg.

2025-06-05T16:49:13.624Z,1749142153.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764353 target range: 257.098602 and range: 271.80 m.
2025-06-05T16:49:13.792Z,1749142153.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769629
2025-06-05T16:49:13.976Z,1749142153.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:13.983Z,1749142153.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 250.974762 m,
      bearing: 335.715010 deg,
      approach rate: -0.617245 m/s,
      LOS rate: -0.003772 deg/s,
      cmd heading: 330.273114 deg,
      new cmd heading: 330.269083 deg.

2025-06-05T16:49:13.984Z,1749142153.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764283 target range: 257.098602 and range: 271.80 m.
2025-06-05T16:49:14.044Z,1749142154.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021680
2025-06-05T16:49:14.296Z,1749142154.296 [DAT](INFO): DAT read: Rx Time:16:49:12.8682

2025-06-05T16:49:14.297Z,1749142154.297 [DAT](INFO): Rx dataTimestamp_ set to:1749142154.296085
2025-06-05T16:49:14.298Z,1749142154.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275785
2025-06-05T16:49:14.377Z,1749142154.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:14.381Z,1749142154.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:14.388Z,1749142154.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 250.712051 m,
      bearing: 335.713422 deg,
      approach rate: -0.649624 m/s,
      LOS rate: -0.003929 deg/s,
      cmd heading: 330.269071 deg,
      new cmd heading: 330.264304 deg.

2025-06-05T16:49:14.389Z,1749142154.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764200 target range: 257.098602 and range: 271.80 m.
2025-06-05T16:49:14.548Z,1749142154.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526127
2025-06-05T16:49:14.825Z,1749142154.825 [DAT](INFO): DAT read: 16:49:12.8682 LVL= 20720, 23665, 18354, 27491, AGC= 65, IDX= 418,-0.18,-2.080, 2.700,-2.108,-2.890, PHS= 0.898,-0.646, 0.779, RAW= 146.0, -13.8, CAL= 152.7, -22.0, ROT= 357.3,  22.0

2025-06-05T16:49:14.826Z,1749142154.826 [DAT](INFO): got valid direction response:
 16:49:12.8682 LVL= 20720, 23665, 18354, 27491, AGC= 65, IDX= 418,-0.18,-2.080, 2.700,-2.108,-2.890, PHS= 0.898,-0.646, 0.779, RAW= 146.0, -13.8, CAL= 152.7, -22.0, ROT= 357.3,  22.0

2025-06-05T16:49:14.827Z,1749142154.827 [DAT](INFO): DAT read: Bearing 357.3,  22.0 (Local)

2025-06-05T16:49:14.827Z,1749142154.827 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  22.0 (Local)

2025-06-05T16:49:14.829Z,1749142154.829 [DAT](INFO): DAT read: Range 10 to 50 : 269.9 m  (Round-trip  359.9 ms) speed  0.5 m/s

2025-06-05T16:49:14.829Z,1749142154.829 [DAT](INFO): DAT read: user:2399>

2025-06-05T16:49:14.840Z,1749142154.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.10 m.
2025-06-05T16:49:14.848Z,1749142154.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.098602 m,
      nav range: 250.441376 m,
      bearing: 335.710443 deg,
      approach rate: -0.589093 m/s,
      LOS rate: -0.006491 deg/s,
      cmd heading: 330.264317 deg,
      new cmd heading: 330.255370 deg.

2025-06-05T16:49:14.851Z,1749142154.851 [DAT](INFO): DAT read: Tx time:16:49:13.9541

2025-06-05T16:49:14.851Z,1749142154.851 [DAT](INFO): Ping request sent.
2025-06-05T16:49:14.852Z,1749142154.852 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:14.853Z,1749142154.853 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:49:14.859Z,1749142154.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764044 target range: 257.098602 and range: 271.80 m.
2025-06-05T16:49:14.863Z,1749142154.863 [DAT](INFO): direction in FSK: [0.926155,-0.043677,-0.374607]
2025-06-05T16:49:14.864Z,1749142154.864 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:14.864Z,1749142154.864 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:14.877Z,1749142154.877 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:14.877Z,1749142154.877 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:15.052Z,1749142155.052 [DAT](INFO): DAT read: TxSync time:16:49:13.9534

2025-06-05T16:49:15.310Z,1749142155.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 269.899994 m,
      deltaT: 3.781448 s,
      deltaX: -1.899994 m,
      approachRate: -0.502451 m/s,
      rangeRepo size: 4

2025-06-05T16:49:15.324Z,1749142155.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 267.703339 m,
      bearing: 330.158533 deg,
      lat: 36.906350 deg,
      lon: -122.116105 deg,
      deltaT: 7.812946 s,
      deltaX: 10.604736 m,
      approachRate: 1.357329 m/s,
      posRepo size: 4

2025-06-05T16:49:15.325Z,1749142155.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:15.332Z,1749142155.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 250.754166 m,
      bearing: 333.486440 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006491 deg/s,
      cmd heading: 330.255383 deg,
      new cmd heading: 330.246251 deg.

2025-06-05T16:49:15.333Z,1749142155.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763885 target range: 267.703339 and range: 269.90 m.
2025-06-05T16:49:15.759Z,1749142155.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:15.766Z,1749142155.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 250.453842 m,
      bearing: 333.478852 deg,
      approach rate: -0.666703 m/s,
      LOS rate: -0.016864 deg/s,
      cmd heading: 330.246258 deg,
      new cmd heading: 330.223468 deg.

2025-06-05T16:49:15.767Z,1749142155.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763487 target range: 267.703339 and range: 269.90 m.
2025-06-05T16:49:16.041Z,1749142156.041 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-05T16:49:16.128Z,1749142156.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:16.136Z,1749142156.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 250.214218 m,
      bearing: 333.472716 deg,
      approach rate: -0.650594 m/s,
      LOS rate: -0.016674 deg/s,
      cmd heading: 330.223472 deg,
      new cmd heading: 330.205048 deg.

2025-06-05T16:49:16.137Z,1749142156.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763165 target range: 267.703339 and range: 269.90 m.
2025-06-05T16:49:16.523Z,1749142156.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:16.541Z,1749142156.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:16.566Z,1749142156.566 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:16.566Z,1749142156.566 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:16.567Z,1749142156.567 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:16.569Z,1749142156.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 249.964066 m,
      bearing: 333.466331 deg,
      approach rate: -0.607115 m/s,
      LOS rate: -0.015512 deg/s,
      cmd heading: 330.205058 deg,
      new cmd heading: 330.185884 deg.

2025-06-05T16:49:16.574Z,1749142156.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762831 target range: 267.703339 and range: 269.90 m.
2025-06-05T16:49:16.816Z,1749142156.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964520
2025-06-05T16:49:16.970Z,1749142156.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:16.973Z,1749142156.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 249.677811 m,
      bearing: 333.458361 deg,
      approach rate: -0.666110 m/s,
      LOS rate: -0.018568 deg/s,
      cmd heading: 330.185879 deg,
      new cmd heading: 330.161941 deg.

2025-06-05T16:49:16.974Z,1749142156.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762413 target range: 267.703339 and range: 269.90 m.
2025-06-05T16:49:17.068Z,1749142157.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216657
2025-06-05T16:49:17.293Z,1749142157.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:17.298Z,1749142157.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 249.440933 m,
      bearing: 333.451752 deg,
      approach rate: -0.732575 m/s,
      LOS rate: -0.020460 deg/s,
      cmd heading: 330.161946 deg,
      new cmd heading: 330.142099 deg.

2025-06-05T16:49:17.299Z,1749142157.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762067 target range: 267.703339 and range: 269.90 m.
2025-06-05T16:49:17.319Z,1749142157.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467879
2025-06-05T16:49:17.574Z,1749142157.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721837
2025-06-05T16:49:17.760Z,1749142157.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:17.767Z,1749142157.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 249.133942 m,
      bearing: 333.441154 deg,
      approach rate: -0.657441 m/s,
      LOS rate: -0.022723 deg/s,
      cmd heading: 330.142111 deg,
      new cmd heading: 330.110280 deg.

2025-06-05T16:49:17.768Z,1749142157.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761511 target range: 267.703339 and range: 269.90 m.
2025-06-05T16:49:17.825Z,1749142157.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973245
2025-06-05T16:49:18.075Z,1749142158.075 [DAT](INFO): DAT read: Rx Time:16:49:16.6955

2025-06-05T16:49:18.076Z,1749142158.076 [DAT](INFO): Rx dataTimestamp_ set to:1749142158.075389
2025-06-05T16:49:18.076Z,1749142158.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224952
2025-06-05T16:49:18.096Z,1749142158.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:18.100Z,1749142158.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 248.903214 m,
      bearing: 333.433181 deg,
      approach rate: -0.687151 m/s,
      LOS rate: -0.023767 deg/s,
      cmd heading: 330.110283 deg,
      new cmd heading: 330.086342 deg.

2025-06-05T16:49:18.101Z,1749142158.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761094 target range: 267.703339 and range: 269.90 m.
2025-06-05T16:49:18.328Z,1749142158.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.476701
2025-06-05T16:49:18.511Z,1749142158.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:18.516Z,1749142158.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 248.627518 m,
      bearing: 333.423633 deg,
      approach rate: -0.666968 m/s,
      LOS rate: -0.023126 deg/s,
      cmd heading: 330.086350 deg,
      new cmd heading: 330.057672 deg.

2025-06-05T16:49:18.518Z,1749142158.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760593 target range: 267.703339 and range: 269.90 m.
2025-06-05T16:49:18.586Z,1749142158.586 [DAT](INFO): DAT read: Range 10 to 50 : 252.9 m  (Round-trip  337.2 ms) speed  0.4 m/s

2025-06-05T16:49:18.589Z,1749142158.589 [DAT](INFO): DAT read: user:2400>

2025-06-05T16:49:18.592Z,1749142158.592 [DAT](INFO): DAT read: Tx time:16:49:17.8041

2025-06-05T16:49:18.593Z,1749142158.593 [DAT](INFO): Ping request sent.
2025-06-05T16:49:18.594Z,1749142158.594 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:18.595Z,1749142158.595 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:49:18.596Z,1749142158.596 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:18.603Z,1749142158.603 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:18.831Z,1749142158.831 [DAT](INFO): DAT read: TxSync time:16:49:17.8034

2025-06-05T16:49:18.939Z,1749142158.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:18.962Z,1749142158.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 252.899994 m,
      deltaT: 3.780995 s,
      deltaX: -17.000000 m,
      approachRate: -4.496171 m/s,
      rangeRepo size: 4

2025-06-05T16:49:18.967Z,1749142158.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:18.969Z,1749142158.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 248.337952 m,
      bearing: 333.412938 deg,
      approach rate: -0.640882 m/s,
      LOS rate: -0.023698 deg/s,
      cmd heading: 330.057663 deg,
      new cmd heading: 330.025541 deg.

2025-06-05T16:49:18.975Z,1749142158.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760032 target range: 267.703339 and range: 252.90 m.
2025-06-05T16:49:18.992Z,1749142158.992 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:49:19.084Z,1749142159.084 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:19.084Z,1749142159.084 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:19.085Z,1749142159.085 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:19.334Z,1749142159.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:19.335Z,1749142159.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.741746
2025-06-05T16:49:19.340Z,1749142159.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 248.068832 m,
      bearing: 333.403181 deg,
      approach rate: -0.722003 m/s,
      LOS rate: -0.026204 deg/s,
      cmd heading: 330.025534 deg,
      new cmd heading: 329.996232 deg.

2025-06-05T16:49:19.341Z,1749142159.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759521 target range: 267.703339 and range: 252.90 m.
2025-06-05T16:49:19.590Z,1749142159.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995956
2025-06-05T16:49:19.743Z,1749142159.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:19.750Z,1749142159.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 247.794785 m,
      bearing: 333.392911 deg,
      approach rate: -0.669685 m/s,
      LOS rate: -0.025125 deg/s,
      cmd heading: 329.996218 deg,
      new cmd heading: 329.965374 deg.

2025-06-05T16:49:19.751Z,1749142159.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758982 target range: 267.703339 and range: 252.90 m.
2025-06-05T16:49:19.840Z,1749142159.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246592
2025-06-05T16:49:19.996Z,1749142159.996 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:49:20.091Z,1749142160.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497739
2025-06-05T16:49:20.127Z,1749142160.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:20.132Z,1749142160.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 247.518036 m,
      bearing: 333.382651 deg,
      approach rate: -0.719620 m/s,
      LOS rate: -0.026708 deg/s,
      cmd heading: 329.965373 deg,
      new cmd heading: 329.934560 deg.

2025-06-05T16:49:20.133Z,1749142160.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758444 target range: 267.703339 and range: 252.90 m.
2025-06-05T16:49:20.348Z,1749142160.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754396
2025-06-05T16:49:20.516Z,1749142160.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:20.520Z,1749142160.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 247.251373 m,
      bearing: 333.372708 deg,
      approach rate: -0.687211 m/s,
      LOS rate: -0.025654 deg/s,
      cmd heading: 329.934555 deg,
      new cmd heading: 329.904692 deg.

2025-06-05T16:49:20.521Z,1749142160.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757923 target range: 267.703339 and range: 252.90 m.
2025-06-05T16:49:20.599Z,1749142160.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004560
2025-06-05T16:49:20.847Z,1749142160.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253585
2025-06-05T16:49:20.945Z,1749142160.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:20.947Z,1749142160.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:20.972Z,1749142160.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 246.953659 m,
      bearing: 333.361282 deg,
      approach rate: -0.689714 m/s,
      LOS rate: -0.026500 deg/s,
      cmd heading: 329.904694 deg,
      new cmd heading: 329.870377 deg.

2025-06-05T16:49:20.979Z,1749142160.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757324 target range: 267.703339 and range: 252.90 m.
2025-06-05T16:49:21.099Z,1749142161.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505751
2025-06-05T16:49:21.349Z,1749142161.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:21.352Z,1749142161.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758092
2025-06-05T16:49:21.356Z,1749142161.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 246.689026 m,
      bearing: 333.351084 deg,
      approach rate: -0.658578 m/s,
      LOS rate: -0.025407 deg/s,
      cmd heading: 329.870379 deg,
      new cmd heading: 329.839751 deg.

2025-06-05T16:49:21.359Z,1749142161.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756790 target range: 267.703339 and range: 252.90 m.
2025-06-05T16:49:21.607Z,1749142161.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012755
2025-06-05T16:49:21.754Z,1749142161.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:21.757Z,1749142161.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 246.393860 m,
      bearing: 333.339967 deg,
      approach rate: -0.728303 m/s,
      LOS rate: -0.027465 deg/s,
      cmd heading: 329.839752 deg,
      new cmd heading: 329.806360 deg.

2025-06-05T16:49:21.759Z,1749142161.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756207 target range: 267.703339 and range: 252.90 m.
2025-06-05T16:49:21.855Z,1749142161.855 [DAT](INFO): DAT read: Rx Time:16:49:20.5627

2025-06-05T16:49:21.856Z,1749142161.856 [DAT](INFO): Rx dataTimestamp_ set to:1749142161.855457
2025-06-05T16:49:21.856Z,1749142161.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262859
2025-06-05T16:49:22.107Z,1749142162.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513618
2025-06-05T16:49:22.141Z,1749142162.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:22.144Z,1749142162.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 246.122269 m,
      bearing: 333.329663 deg,
      approach rate: -0.702447 m/s,
      LOS rate: -0.026680 deg/s,
      cmd heading: 329.806366 deg,
      new cmd heading: 329.775421 deg.

2025-06-05T16:49:22.145Z,1749142162.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755667 target range: 267.703339 and range: 252.90 m.
2025-06-05T16:49:22.364Z,1749142162.364 [DAT](INFO): DAT read: Range 10 to 50 : 265.8 m  (Round-trip  354.4 ms) speed  0.6 m/s

2025-06-05T16:49:22.365Z,1749142162.365 [DAT](INFO): DAT read: user:2401>

2025-06-05T16:49:22.366Z,1749142162.366 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:49:22.368Z,1749142162.368 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:22.368Z,1749142162.368 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:22.368Z,1749142162.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:22.541Z,1749142162.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 265.799988 m,
      deltaT: 3.779200 s,
      deltaX: 12.899994 m,
      approachRate: 3.413419 m/s,
      rangeRepo size: 4

2025-06-05T16:49:22.542Z,1749142162.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:22.548Z,1749142162.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 245.842529 m,
      bearing: 333.318983 deg,
      approach rate: -0.699223 m/s,
      LOS rate: -0.026724 deg/s,
      cmd heading: 329.775412 deg,
      new cmd heading: 329.743337 deg.

2025-06-05T16:49:22.549Z,1749142162.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755107 target range: 267.703339 and range: 265.80 m.
2025-06-05T16:49:22.616Z,1749142162.616 [DAT](INFO): DAT read: Tx time:16:49:21.6542

2025-06-05T16:49:22.617Z,1749142162.617 [DAT](INFO): Ping request sent.
2025-06-05T16:49:22.617Z,1749142162.617 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:22.620Z,1749142162.620 [DAT](INFO): DAT read: TxSync time:16:49:21.6535

2025-06-05T16:49:22.622Z,1749142162.622 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:22.624Z,1749142162.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006432
2025-06-05T16:49:22.864Z,1749142162.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247151
2025-06-05T16:49:22.995Z,1749142162.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:22.997Z,1749142162.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:23.004Z,1749142163.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 245.546997 m,
      bearing: 333.308779 deg,
      approach rate: -0.647308 m/s,
      LOS rate: -0.022377 deg/s,
      cmd heading: 329.743338 deg,
      new cmd heading: 329.712688 deg.

2025-06-05T16:49:23.011Z,1749142163.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754572 target range: 267.703339 and range: 265.80 m.
2025-06-05T16:49:23.115Z,1749142163.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498338
2025-06-05T16:49:23.351Z,1749142163.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:23.353Z,1749142163.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 245.285446 m,
      bearing: 333.299643 deg,
      approach rate: -0.739789 m/s,
      LOS rate: -0.025870 deg/s,
      cmd heading: 329.712684 deg,
      new cmd heading: 329.685245 deg.

2025-06-05T16:49:23.355Z,1749142163.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754093 target range: 267.703339 and range: 265.80 m.
2025-06-05T16:49:23.367Z,1749142163.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750162
2025-06-05T16:49:23.623Z,1749142163.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004905
2025-06-05T16:49:23.778Z,1749142163.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:23.783Z,1749142163.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 244.998032 m,
      bearing: 333.290046 deg,
      approach rate: -0.673509 m/s,
      LOS rate: -0.022513 deg/s,
      cmd heading: 329.685254 deg,
      new cmd heading: 329.656431 deg.

2025-06-05T16:49:23.784Z,1749142163.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753590 target range: 267.703339 and range: 265.80 m.
2025-06-05T16:49:23.871Z,1749142163.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254473
2025-06-05T16:49:24.123Z,1749142164.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506328
2025-06-05T16:49:24.169Z,1749142164.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:24.172Z,1749142164.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 244.735825 m,
      bearing: 333.281086 deg,
      approach rate: -0.669835 m/s,
      LOS rate: -0.022915 deg/s,
      cmd heading: 329.656430 deg,
      new cmd heading: 329.629520 deg.

2025-06-05T16:49:24.173Z,1749142164.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753120 target range: 267.703339 and range: 265.80 m.
2025-06-05T16:49:24.376Z,1749142164.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759169
2025-06-05T16:49:24.631Z,1749142164.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013657
2025-06-05T16:49:24.667Z,1749142164.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:24.691Z,1749142164.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 244.436356 m,
      bearing: 333.270618 deg,
      approach rate: -0.608418 m/s,
      LOS rate: -0.021293 deg/s,
      cmd heading: 329.629519 deg,
      new cmd heading: 329.598078 deg.

2025-06-05T16:49:24.692Z,1749142164.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752572 target range: 267.703339 and range: 265.80 m.
2025-06-05T16:49:24.880Z,1749142164.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263306
2025-06-05T16:49:25.132Z,1749142165.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514783
2025-06-05T16:49:25.171Z,1749142165.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:25.173Z,1749142165.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:25.181Z,1749142165.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 244.078094 m,
      bearing: 333.258565 deg,
      approach rate: -0.700529 m/s,
      LOS rate: -0.023603 deg/s,
      cmd heading: 329.598073 deg,
      new cmd heading: 329.561860 deg.

2025-06-05T16:49:25.182Z,1749142165.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751940 target range: 267.703339 and range: 265.80 m.
2025-06-05T16:49:25.384Z,1749142165.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767038
2025-06-05T16:49:25.635Z,1749142165.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018590
2025-06-05T16:49:25.650Z,1749142165.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:25.696Z,1749142165.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 243.745361 m,
      bearing: 333.247261 deg,
      approach rate: -0.699717 m/s,
      LOS rate: -0.023803 deg/s,
      cmd heading: 329.561873 deg,
      new cmd heading: 329.527916 deg.

2025-06-05T16:49:25.711Z,1749142165.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751347 target range: 267.703339 and range: 265.80 m.
2025-06-05T16:49:25.887Z,1749142165.887 [DAT](INFO): DAT read: Rx Time:16:49:24.4090

2025-06-05T16:49:25.888Z,1749142165.888 [DAT](INFO): Rx dataTimestamp_ set to:1749142165.887344
2025-06-05T16:49:25.888Z,1749142165.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271361
2025-06-05T16:49:26.065Z,1749142166.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:26.068Z,1749142166.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 243.473251 m,
      bearing: 333.239051 deg,
      approach rate: -0.653664 m/s,
      LOS rate: -0.019744 deg/s,
      cmd heading: 329.527913 deg,
      new cmd heading: 329.503256 deg.

2025-06-05T16:49:26.069Z,1749142166.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750916 target range: 267.703339 and range: 265.80 m.
2025-06-05T16:49:26.140Z,1749142166.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523287
2025-06-05T16:49:26.392Z,1749142166.392 [DAT](INFO): DAT read: Range 10 to 50 : 262.9 m  (Round-trip  350.6 ms) speed  0.3 m/s

2025-06-05T16:49:26.393Z,1749142166.393 [DAT](INFO): DAT read: user:2402>

2025-06-05T16:49:26.393Z,1749142166.393 [DAT](INFO): DAT read: Tx time:16:49:25.5042

2025-06-05T16:49:26.394Z,1749142166.394 [DAT](INFO): Ping request sent.
2025-06-05T16:49:26.394Z,1749142166.394 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:26.394Z,1749142166.394 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:49:26.394Z,1749142166.394 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:26.395Z,1749142166.395 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:26.459Z,1749142166.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 262.899994 m,
      deltaT: 4.030370 s,
      deltaX: -2.899994 m,
      approachRate: -0.719535 m/s,
      rangeRepo size: 4

2025-06-05T16:49:26.459Z,1749142166.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:26.467Z,1749142166.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 243.228592 m,
      bearing: 333.231726 deg,
      approach rate: -0.622439 m/s,
      LOS rate: -0.018654 deg/s,
      cmd heading: 329.503243 deg,
      new cmd heading: 329.481246 deg.

2025-06-05T16:49:26.468Z,1749142166.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750533 target range: 267.703339 and range: 262.90 m.
2025-06-05T16:49:26.643Z,1749142166.643 [DAT](INFO): DAT read: TxSync time:16:49:25.5035

2025-06-05T16:49:26.901Z,1749142166.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:26.904Z,1749142166.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 242.931259 m,
      bearing: 333.225800 deg,
      approach rate: -0.671112 m/s,
      LOS rate: -0.013392 deg/s,
      cmd heading: 329.481249 deg,
      new cmd heading: 329.463449 deg.

2025-06-05T16:49:26.905Z,1749142166.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750222 target range: 267.703339 and range: 262.90 m.
2025-06-05T16:49:27.244Z,1749142167.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:27.247Z,1749142167.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:27.250Z,1749142167.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 242.704681 m,
      bearing: 333.221313 deg,
      approach rate: -0.656177 m/s,
      LOS rate: -0.013008 deg/s,
      cmd heading: 329.463436 deg,
      new cmd heading: 329.449961 deg.

2025-06-05T16:49:27.251Z,1749142167.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749987 target range: 267.703339 and range: 262.90 m.
2025-06-05T16:49:27.399Z,1749142167.399 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:27.399Z,1749142167.399 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:27.400Z,1749142167.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:27.651Z,1749142167.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257158
2025-06-05T16:49:27.764Z,1749142167.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:27.771Z,1749142167.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 242.416550 m,
      bearing: 333.215593 deg,
      approach rate: -0.556634 m/s,
      LOS rate: -0.011062 deg/s,
      cmd heading: 329.449967 deg,
      new cmd heading: 329.432790 deg.

2025-06-05T16:49:27.772Z,1749142167.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749687 target range: 267.703339 and range: 262.90 m.
2025-06-05T16:49:27.903Z,1749142167.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509258
2025-06-05T16:49:28.072Z,1749142168.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:28.075Z,1749142168.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 242.169220 m,
      bearing: 333.210960 deg,
      approach rate: -0.802641 m/s,
      LOS rate: -0.015051 deg/s,
      cmd heading: 329.432782 deg,
      new cmd heading: 329.418869 deg.

2025-06-05T16:49:28.076Z,1749142168.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749444 target range: 267.703339 and range: 262.90 m.
2025-06-05T16:49:28.157Z,1749142168.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762783
2025-06-05T16:49:28.407Z,1749142168.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013208
2025-06-05T16:49:28.549Z,1749142168.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:28.576Z,1749142168.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 241.860626 m,
      bearing: 333.205338 deg,
      approach rate: -0.646839 m/s,
      LOS rate: -0.011800 deg/s,
      cmd heading: 329.418876 deg,
      new cmd heading: 329.401987 deg.

2025-06-05T16:49:28.577Z,1749142168.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749149 target range: 267.703339 and range: 262.90 m.
2025-06-05T16:49:28.664Z,1749142168.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269827
2025-06-05T16:49:28.911Z,1749142168.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517360
2025-06-05T16:49:28.990Z,1749142168.990 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS,   36,  

2025-06-05T16:49:29.012Z,1749142169.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:29.015Z,1749142169.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 241.555847 m,
      bearing: 333.199771 deg,
      approach rate: -0.657993 m/s,
      LOS rate: -0.012035 deg/s,
      cmd heading: 329.401992 deg,
      new cmd heading: 329.385269 deg.

2025-06-05T16:49:29.016Z,1749142169.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748857 target range: 267.703339 and range: 262.90 m.
2025-06-05T16:49:29.163Z,1749142169.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769203
2025-06-05T16:49:29.287Z,1749142169.287 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-05T16:49:29.355Z,1749142169.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:29.357Z,1749142169.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:29.366Z,1749142169.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 241.334778 m,
      bearing: 333.196041 deg,
      approach rate: -0.640165 m/s,
      LOS rate: -0.010810 deg/s,
      cmd heading: 329.385272 deg,
      new cmd heading: 329.374072 deg.

2025-06-05T16:49:29.371Z,1749142169.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748662 target range: 267.703339 and range: 262.90 m.
2025-06-05T16:49:29.415Z,1749142169.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021598
2025-06-05T16:49:29.667Z,1749142169.667 [DAT](INFO): DAT read: Rx Time:16:49:28.2563

2025-06-05T16:49:29.668Z,1749142169.668 [DAT](INFO): Rx dataTimestamp_ set to:1749142169.667404
2025-06-05T16:49:29.668Z,1749142169.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274369
2025-06-05T16:49:29.795Z,1749142169.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:29.800Z,1749142169.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 241.049896 m,
      bearing: 333.191379 deg,
      approach rate: -0.650823 m/s,
      LOS rate: -0.010662 deg/s,
      cmd heading: 329.374070 deg,
      new cmd heading: 329.360069 deg.

2025-06-05T16:49:29.801Z,1749142169.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748418 target range: 267.703339 and range: 262.90 m.
2025-06-05T16:49:29.919Z,1749142169.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525315
2025-06-05T16:49:30.177Z,1749142170.177 [DAT](INFO): DAT read: 16:49:28.2563 LVL= 21184, 30561, 21186, 32755, AGC= 64, IDX= 407, 0.08, 1.003,-0.839, 0.946,-0.062, PHS= 1.153,-0.730, 1.005, RAW= 145.9, -15.6, CAL= 152.3, -23.5, ROT= 357.7,  23.5

2025-06-05T16:49:30.178Z,1749142170.178 [DAT](INFO): got valid direction response:
 16:49:28.2563 LVL= 21184, 30561, 21186, 32755, AGC= 64, IDX= 407, 0.08, 1.003,-0.839, 0.946,-0.062, PHS= 1.153,-0.730, 1.005, RAW= 145.9, -15.6, CAL= 152.3, -23.5, ROT= 357.7,  23.5

2025-06-05T16:49:30.179Z,1749142170.179 [DAT](INFO): DAT read: Bearing 357.7,  23.5 (Local)

2025-06-05T16:49:30.179Z,1749142170.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7,  23.5 (Local)

2025-06-05T16:49:30.181Z,1749142170.181 [DAT](INFO): DAT read: Range 10 to 50 : 260.9 m  (Round-trip  347.9 ms) speed  0.8 m/s

2025-06-05T16:49:30.181Z,1749142170.181 [DAT](INFO): DAT read: user:2403>

2025-06-05T16:49:30.182Z,1749142170.182 [DAT](INFO): DAT read: Tx time:16:49:29.3542

2025-06-05T16:49:30.182Z,1749142170.182 [DAT](INFO): Ping request sent.
2025-06-05T16:49:30.182Z,1749142170.182 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:30.183Z,1749142170.183 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:49:30.184Z,1749142170.184 [DAT](INFO): direction in FSK: [0.916321,-0.036803,-0.398749]
2025-06-05T16:49:30.184Z,1749142170.184 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:30.184Z,1749142170.184 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:30.187Z,1749142170.187 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:30.188Z,1749142170.188 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:30.219Z,1749142170.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 260.899994 m,
      deltaT: 3.780012 s,
      deltaX: -2.000000 m,
      approachRate: -0.529099 m/s,
      rangeRepo size: 4

2025-06-05T16:49:30.221Z,1749142170.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:30.235Z,1749142170.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 240.809082 m,
      bearing: 333.187378 deg,
      approach rate: -0.577013 m/s,
      LOS rate: -0.009598 deg/s,
      cmd heading: 329.360082 deg,
      new cmd heading: 329.348065 deg.

2025-06-05T16:49:30.236Z,1749142170.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748208 target range: 267.703339 and range: 260.90 m.
2025-06-05T16:49:30.423Z,1749142170.423 [DAT](INFO): DAT read: TxSync time:16:49:29.3535

2025-06-05T16:49:30.608Z,1749142170.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:30.615Z,1749142170.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 240.537033 m,
      bearing: 333.182876 deg,
      approach rate: -0.688037 m/s,
      LOS rate: -0.011398 deg/s,
      cmd heading: 329.348061 deg,
      new cmd heading: 329.334541 deg.

2025-06-05T16:49:30.616Z,1749142170.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747972 target range: 267.703339 and range: 260.90 m.
2025-06-05T16:49:30.973Z,1749142170.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:30.976Z,1749142170.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 240.279663 m,
      bearing: 333.179270 deg,
      approach rate: -0.704849 m/s,
      LOS rate: -0.009887 deg/s,
      cmd heading: 329.334537 deg,
      new cmd heading: 329.323706 deg.

2025-06-05T16:49:30.977Z,1749142170.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747783 target range: 267.703339 and range: 260.90 m.
2025-06-05T16:49:31.388Z,1749142171.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:31.395Z,1749142171.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:31.403Z,1749142171.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 240.009552 m,
      bearing: 333.175410 deg,
      approach rate: -0.647171 m/s,
      LOS rate: -0.009259 deg/s,
      cmd heading: 329.323718 deg,
      new cmd heading: 329.312125 deg.

2025-06-05T16:49:31.407Z,1749142171.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747581 target range: 267.703339 and range: 260.90 m.
2025-06-05T16:49:31.431Z,1749142171.431 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:31.431Z,1749142171.431 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:31.432Z,1749142171.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:31.683Z,1749142171.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500551
2025-06-05T16:49:31.836Z,1749142171.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:31.839Z,1749142171.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 239.723923 m,
      bearing: 333.171326 deg,
      approach rate: -0.641616 m/s,
      LOS rate: -0.009184 deg/s,
      cmd heading: 329.312134 deg,
      new cmd heading: 329.299869 deg.

2025-06-05T16:49:31.840Z,1749142171.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747367 target range: 267.703339 and range: 260.90 m.
2025-06-05T16:49:31.935Z,1749142171.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752971
2025-06-05T16:49:32.187Z,1749142172.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004471
2025-06-05T16:49:32.206Z,1749142172.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:32.213Z,1749142172.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 239.480743 m,
      bearing: 333.166880 deg,
      approach rate: -0.656922 m/s,
      LOS rate: -0.012024 deg/s,
      cmd heading: 329.299867 deg,
      new cmd heading: 329.286514 deg.

2025-06-05T16:49:32.214Z,1749142172.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747134 target range: 267.703339 and range: 260.90 m.
2025-06-05T16:49:32.439Z,1749142172.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256610
2025-06-05T16:49:32.583Z,1749142172.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:32.587Z,1749142172.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 239.220413 m,
      bearing: 333.162066 deg,
      approach rate: -0.689062 m/s,
      LOS rate: -0.012755 deg/s,
      cmd heading: 329.286507 deg,
      new cmd heading: 329.272051 deg.

2025-06-05T16:49:32.588Z,1749142172.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746881 target range: 267.703339 and range: 260.90 m.
2025-06-05T16:49:32.691Z,1749142172.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508753
2025-06-05T16:49:32.943Z,1749142172.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760479
2025-06-05T16:49:32.977Z,1749142172.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:32.981Z,1749142172.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 238.960678 m,
      bearing: 333.157246 deg,
      approach rate: -0.659920 m/s,
      LOS rate: -0.012261 deg/s,
      cmd heading: 329.272054 deg,
      new cmd heading: 329.257578 deg.

2025-06-05T16:49:32.982Z,1749142172.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746629 target range: 267.703339 and range: 260.90 m.
2025-06-05T16:49:33.196Z,1749142173.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013095
2025-06-05T16:49:33.375Z,1749142173.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:33.394Z,1749142173.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 238.699539 m,
      bearing: 333.152394 deg,
      approach rate: -0.655614 m/s,
      LOS rate: -0.012195 deg/s,
      cmd heading: 329.257574 deg,
      new cmd heading: 329.243002 deg.

2025-06-05T16:49:33.396Z,1749142173.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746375 target range: 267.703339 and range: 260.90 m.
2025-06-05T16:49:33.452Z,1749142173.452 [DAT](INFO): DAT read: Rx Time:16:49:32.1038

2025-06-05T16:49:33.452Z,1749142173.452 [DAT](INFO): Rx dataTimestamp_ set to:1749142173.451750
2025-06-05T16:49:33.453Z,1749142173.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270466
2025-06-05T16:49:33.703Z,1749142173.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520588
2025-06-05T16:49:33.877Z,1749142173.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:33.884Z,1749142173.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:33.892Z,1749142173.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 238.382797 m,
      bearing: 333.146544 deg,
      approach rate: -0.622250 m/s,
      LOS rate: -0.011508 deg/s,
      cmd heading: 329.243012 deg,
      new cmd heading: 329.225439 deg.

2025-06-05T16:49:33.898Z,1749142173.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746068 target range: 267.703339 and range: 260.90 m.
2025-06-05T16:49:33.958Z,1749142173.958 [DAT](INFO): DAT read: Range 10 to 50 : 259.0 m  (Round-trip  345.4 ms) speed  0.4 m/s

2025-06-05T16:49:33.959Z,1749142173.959 [DAT](INFO): DAT read: user:2404>

2025-06-05T16:49:33.960Z,1749142173.960 [DAT](INFO): DAT read: Tx time:16:49:33.2042

2025-06-05T16:49:33.961Z,1749142173.961 [DAT](INFO): Ping request sent.
2025-06-05T16:49:33.961Z,1749142173.961 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:33.961Z,1749142173.961 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:49:33.961Z,1749142173.961 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:33.964Z,1749142173.964 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:34.207Z,1749142174.207 [DAT](INFO): DAT read: TxSync time:16:49:33.2035

2025-06-05T16:49:34.220Z,1749142174.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 259.000000 m,
      deltaT: 3.784986 s,
      deltaX: -1.899994 m,
      approachRate: -0.501982 m/s,
      rangeRepo size: 4

2025-06-05T16:49:34.221Z,1749142174.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:34.228Z,1749142174.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 238.145187 m,
      bearing: 333.142145 deg,
      approach rate: -0.708782 m/s,
      LOS rate: -0.013135 deg/s,
      cmd heading: 329.225445 deg,
      new cmd heading: 329.212235 deg.

2025-06-05T16:49:34.229Z,1749142174.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745837 target range: 267.703339 and range: 259.00 m.
2025-06-05T16:49:34.599Z,1749142174.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:34.602Z,1749142174.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 237.907684 m,
      bearing: 333.137825 deg,
      approach rate: -0.627543 m/s,
      LOS rate: -0.011424 deg/s,
      cmd heading: 329.212222 deg,
      new cmd heading: 329.199251 deg.

2025-06-05T16:49:34.603Z,1749142174.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745611 target range: 267.703339 and range: 259.00 m.
2025-06-05T16:49:35.034Z,1749142175.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:35.037Z,1749142175.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 237.629059 m,
      bearing: 333.132987 deg,
      approach rate: -0.639831 m/s,
      LOS rate: -0.011123 deg/s,
      cmd heading: 329.199245 deg,
      new cmd heading: 329.184714 deg.

2025-06-05T16:49:35.038Z,1749142175.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745357 target range: 267.703339 and range: 259.00 m.
2025-06-05T16:49:35.418Z,1749142175.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:35.428Z,1749142175.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 237.371567 m,
      bearing: 333.128601 deg,
      approach rate: -0.679094 m/s,
      LOS rate: -0.011580 deg/s,
      cmd heading: 329.184710 deg,
      new cmd heading: 329.171538 deg.

2025-06-05T16:49:35.434Z,1749142175.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745127 target range: 267.703339 and range: 259.00 m.
2025-06-05T16:49:35.793Z,1749142175.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:35.798Z,1749142175.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 237.112625 m,
      bearing: 333.124229 deg,
      approach rate: -0.681454 m/s,
      LOS rate: -0.011519 deg/s,
      cmd heading: 329.171541 deg,
      new cmd heading: 329.158410 deg.

2025-06-05T16:49:35.802Z,1749142175.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744898 target range: 267.703339 and range: 259.00 m.
2025-06-05T16:49:36.242Z,1749142176.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:36.244Z,1749142176.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:36.248Z,1749142176.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 236.813934 m,
      bearing: 333.112335 deg,
      approach rate: -0.661469 m/s,
      LOS rate: -0.026373 deg/s,
      cmd heading: 329.158400 deg,
      new cmd heading: 329.122674 deg.

2025-06-05T16:49:36.249Z,1749142176.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744274 target range: 267.703339 and range: 259.00 m.
2025-06-05T16:49:36.475Z,1749142176.475 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:36.475Z,1749142176.475 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:36.475Z,1749142176.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:36.616Z,1749142176.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:36.619Z,1749142176.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 236.567535 m,
      bearing: 333.102472 deg,
      approach rate: -0.663183 m/s,
      LOS rate: -0.026575 deg/s,
      cmd heading: 329.122665 deg,
      new cmd heading: 329.093044 deg.

2025-06-05T16:49:36.620Z,1749142176.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743757 target range: 267.703339 and range: 259.00 m.
2025-06-05T16:49:36.727Z,1749142176.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766525
2025-06-05T16:49:36.981Z,1749142176.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020774
2025-06-05T16:49:37.058Z,1749142177.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:37.087Z,1749142177.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 236.260269 m,
      bearing: 333.089985 deg,
      approach rate: -0.695484 m/s,
      LOS rate: -0.028300 deg/s,
      cmd heading: 329.093049 deg,
      new cmd heading: 329.055540 deg.

2025-06-05T16:49:37.088Z,1749142177.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743103 target range: 267.703339 and range: 259.00 m.
2025-06-05T16:49:37.231Z,1749142177.231 [DAT](INFO): DAT read: Rx Time:16:49:35.9499

2025-06-05T16:49:37.232Z,1749142177.232 [DAT](INFO): Rx dataTimestamp_ set to:1749142177.231345
2025-06-05T16:49:37.232Z,1749142177.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271528
2025-06-05T16:49:37.436Z,1749142177.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:37.439Z,1749142177.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 236.002029 m,
      bearing: 333.079466 deg,
      approach rate: -0.682016 m/s,
      LOS rate: -0.027813 deg/s,
      cmd heading: 329.055537 deg,
      new cmd heading: 329.023944 deg.

2025-06-05T16:49:37.440Z,1749142177.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742551 target range: 267.703339 and range: 259.00 m.
2025-06-05T16:49:37.484Z,1749142177.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523536
2025-06-05T16:49:37.737Z,1749142177.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776175
2025-06-05T16:49:37.920Z,1749142177.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.70 m.
2025-06-05T16:49:37.927Z,1749142177.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.703339 m,
      nav range: 235.679489 m,
      bearing: 333.066307 deg,
      approach rate: -0.667102 m/s,
      LOS rate: -0.027254 deg/s,
      cmd heading: 329.023955 deg,
      new cmd heading: 328.984423 deg.

2025-06-05T16:49:37.928Z,1749142177.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741861 target range: 267.703339 and range: 259.00 m.
2025-06-05T16:49:37.997Z,1749142177.997 [DAT](INFO): DAT read: 16:49:35.9500 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 404, 0.05,-0.099,-1.370,-0.098,-0.818, PHS= 0.807,-0.505, 0.717, RAW= 146.5, -15.8, CAL= 152.8, -23.7, ROT= 357.2,  23.7

2025-06-05T16:49:37.999Z,1749142177.999 [DAT](INFO): got valid direction response:
 16:49:35.9500 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 404, 0.05,-0.099,-1.370,-0.098,-0.818, PHS= 0.807,-0.505, 0.717, RAW= 146.5, -15.8, CAL= 152.8, -23.7, ROT= 357.2,  23.7

2025-06-05T16:49:38.001Z,1749142178.001 [DAT](INFO): DAT read: Bearing 357.2,  23.7 (Local)

2025-06-05T16:49:38.001Z,1749142178.001 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2,  23.7 (Local)

2025-06-05T16:49:38.005Z,1749142178.005 [DAT](INFO): DAT read: Range 10 to 50 : 256.1 m  (Round-trip  341.5 ms) speed  0.7 m/s

2025-06-05T16:49:38.006Z,1749142178.006 [DAT](INFO): DAT read: user:2405>

2025-06-05T16:49:38.012Z,1749142178.012 [DAT](INFO): DAT read: Tx time:16:49:37.0543

2025-06-05T16:49:38.012Z,1749142178.012 [DAT](INFO): Ping request sent.
2025-06-05T16:49:38.013Z,1749142178.013 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:38.018Z,1749142178.018 [DAT](INFO): DAT read: TxSync time:16:49:37.0536

2025-06-05T16:49:38.034Z,1749142178.034 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:49:38.035Z,1749142178.035 [DAT](INFO): direction in FSK: [0.914569,-0.044730,-0.401948]
2025-06-05T16:49:38.036Z,1749142178.036 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:38.036Z,1749142178.036 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:38.048Z,1749142178.048 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:38.048Z,1749142178.048 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:38.353Z,1749142178.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 256.100006 m,
      deltaT: 4.031192 s,
      deltaX: -2.899994 m,
      approachRate: -0.719389 m/s,
      rangeRepo size: 4

2025-06-05T16:49:38.359Z,1749142178.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 254.019379 m,
      bearing: 328.622380 deg,
      lat: 36.906214 deg,
      lon: -122.116215 deg,
      deltaT: 23.186755 s,
      deltaX: -13.683960 m,
      approachRate: -0.590163 m/s,
      posRepo size: 4

2025-06-05T16:49:38.360Z,1749142178.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:38.367Z,1749142178.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 226.893600 m,
      bearing: 329.122469 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027254 deg/s,
      cmd heading: 328.984422 deg,
      new cmd heading: 328.949058 deg.

2025-06-05T16:49:38.368Z,1749142178.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741244 target range: 254.019379 and range: 256.10 m.
2025-06-05T16:49:38.661Z,1749142178.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:38.665Z,1749142178.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:38.688Z,1749142178.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 226.664062 m,
      bearing: 329.108753 deg,
      approach rate: -0.734818 m/s,
      LOS rate: -0.043954 deg/s,
      cmd heading: 328.949068 deg,
      new cmd heading: 328.907878 deg.

2025-06-05T16:49:38.689Z,1749142178.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740525 target range: 254.019379 and range: 256.10 m.
2025-06-05T16:49:38.745Z,1749142178.745 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:38.745Z,1749142178.745 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:38.745Z,1749142178.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:38.995Z,1749142178.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982605
2025-06-05T16:49:39.109Z,1749142179.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:39.113Z,1749142179.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 226.366074 m,
      bearing: 329.091087 deg,
      approach rate: -0.670067 m/s,
      LOS rate: -0.039776 deg/s,
      cmd heading: 328.907869 deg,
      new cmd heading: 328.854802 deg.

2025-06-05T16:49:39.115Z,1749142179.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739599 target range: 254.019379 and range: 256.10 m.
2025-06-05T16:49:39.253Z,1749142179.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237159
2025-06-05T16:49:39.490Z,1749142179.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:39.492Z,1749142179.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 226.111923 m,
      bearing: 329.075833 deg,
      approach rate: -0.668528 m/s,
      LOS rate: -0.040169 deg/s,
      cmd heading: 328.854812 deg,
      new cmd heading: 328.808999 deg.

2025-06-05T16:49:39.493Z,1749142179.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738800 target range: 254.019379 and range: 256.10 m.
2025-06-05T16:49:39.499Z,1749142179.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486880
2025-06-05T16:49:39.751Z,1749142179.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738765
2025-06-05T16:49:39.937Z,1749142179.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:39.940Z,1749142179.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 225.814194 m,
      bearing: 329.057919 deg,
      approach rate: -0.665317 m/s,
      LOS rate: -0.040086 deg/s,
      cmd heading: 328.808995 deg,
      new cmd heading: 328.755180 deg.

2025-06-05T16:49:39.941Z,1749142179.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737860 target range: 254.019379 and range: 256.10 m.
2025-06-05T16:49:40.005Z,1749142180.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992130
2025-06-05T16:49:40.256Z,1749142180.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243549
2025-06-05T16:49:40.322Z,1749142180.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:40.328Z,1749142180.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 225.555359 m,
      bearing: 329.043430 deg,
      approach rate: -0.673225 m/s,
      LOS rate: -0.037729 deg/s,
      cmd heading: 328.755173 deg,
      new cmd heading: 328.711656 deg.

2025-06-05T16:49:40.329Z,1749142180.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737101 target range: 254.019379 and range: 256.10 m.
2025-06-05T16:49:40.507Z,1749142180.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494675
2025-06-05T16:49:40.759Z,1749142180.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746945
2025-06-05T16:49:40.820Z,1749142180.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:40.822Z,1749142180.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:40.829Z,1749142180.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 225.225830 m,
      bearing: 329.024965 deg,
      approach rate: -0.658687 m/s,
      LOS rate: -0.036963 deg/s,
      cmd heading: 328.711651 deg,
      new cmd heading: 328.656176 deg.

2025-06-05T16:49:40.835Z,1749142180.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736132 target range: 254.019379 and range: 256.10 m.
2025-06-05T16:49:41.014Z,1749142181.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001398
2025-06-05T16:49:41.240Z,1749142181.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:41.243Z,1749142181.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 224.941528 m,
      bearing: 329.011007 deg,
      approach rate: -0.679252 m/s,
      LOS rate: -0.033389 deg/s,
      cmd heading: 328.656163 deg,
      new cmd heading: 328.614237 deg.

2025-06-05T16:49:41.244Z,1749142181.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735400 target range: 254.019379 and range: 256.10 m.
2025-06-05T16:49:41.265Z,1749142181.265 [DAT](INFO): DAT read: Rx Time:16:49:39.7967

2025-06-05T16:49:41.267Z,1749142181.267 [DAT](INFO): Rx dataTimestamp_ set to:1749142181.265500
2025-06-05T16:49:41.269Z,1749142181.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255878
2025-06-05T16:49:41.515Z,1749142181.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502913
2025-06-05T16:49:41.741Z,1749142181.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:41.744Z,1749142181.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 224.613190 m,
      bearing: 328.994843 deg,
      approach rate: -0.656428 m/s,
      LOS rate: -0.032364 deg/s,
      cmd heading: 328.614225 deg,
      new cmd heading: 328.565661 deg.

2025-06-05T16:49:41.745Z,1749142181.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734552 target range: 254.019379 and range: 256.10 m.
2025-06-05T16:49:41.768Z,1749142181.768 [DAT](INFO): DAT read: Range 10 to 50 : 253.6 m  (Round-trip  338.2 ms) speed  0.4 m/s

2025-06-05T16:49:41.769Z,1749142181.769 [DAT](INFO): DAT read: user:2406>

2025-06-05T16:49:41.782Z,1749142181.782 [DAT](INFO): DAT read: Tx time:16:49:40.9043

2025-06-05T16:49:41.783Z,1749142181.783 [DAT](INFO): Ping request sent.
2025-06-05T16:49:41.783Z,1749142181.783 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:41.783Z,1749142181.783 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:49:41.783Z,1749142181.783 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:41.784Z,1749142181.784 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:42.019Z,1749142182.019 [DAT](INFO): DAT read: TxSync time:16:49:40.9036

2025-06-05T16:49:42.052Z,1749142182.052 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-05T16:49:42.259Z,1749142182.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 253.600006 m,
      deltaT: 3.780247 s,
      deltaX: -2.500000 m,
      approachRate: -0.661332 m/s,
      rangeRepo size: 4

2025-06-05T16:49:42.259Z,1749142182.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:42.262Z,1749142182.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 224.265030 m,
      bearing: 328.982057 deg,
      approach rate: -0.673336 m/s,
      LOS rate: -0.024766 deg/s,
      cmd heading: 328.565649 deg,
      new cmd heading: 328.527231 deg.

2025-06-05T16:49:42.263Z,1749142182.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733882 target range: 254.019379 and range: 253.60 m.
2025-06-05T16:49:42.585Z,1749142182.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:42.592Z,1749142182.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 224.061371 m,
      bearing: 328.974704 deg,
      approach rate: -0.621114 m/s,
      LOS rate: -0.022446 deg/s,
      cmd heading: 328.527236 deg,
      new cmd heading: 328.505157 deg.

2025-06-05T16:49:42.593Z,1749142182.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733497 target range: 254.019379 and range: 253.60 m.
2025-06-05T16:49:43.040Z,1749142183.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:43.042Z,1749142183.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:43.045Z,1749142183.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 223.751938 m,
      bearing: 328.966797 deg,
      approach rate: -0.678401 m/s,
      LOS rate: -0.017359 deg/s,
      cmd heading: 328.505161 deg,
      new cmd heading: 328.481408 deg.

2025-06-05T16:49:43.049Z,1749142183.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733082 target range: 254.019379 and range: 253.60 m.
2025-06-05T16:49:43.279Z,1749142183.279 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:43.280Z,1749142183.280 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:43.280Z,1749142183.280 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:43.391Z,1749142183.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:43.393Z,1749142183.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 223.525208 m,
      bearing: 328.960966 deg,
      approach rate: -0.649123 m/s,
      LOS rate: -0.016712 deg/s,
      cmd heading: 328.481419 deg,
      new cmd heading: 328.463907 deg.

2025-06-05T16:49:43.399Z,1749142183.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732777 target range: 254.019379 and range: 253.60 m.
2025-06-05T16:49:43.533Z,1749142183.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749567
2025-06-05T16:49:43.783Z,1749142183.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000538
2025-06-05T16:49:43.788Z,1749142183.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:43.791Z,1749142183.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 223.270294 m,
      bearing: 328.954410 deg,
      approach rate: -0.642151 m/s,
      LOS rate: -0.016533 deg/s,
      cmd heading: 328.463906 deg,
      new cmd heading: 328.444217 deg.

2025-06-05T16:49:43.792Z,1749142183.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732433 target range: 254.019379 and range: 253.60 m.
2025-06-05T16:49:44.035Z,1749142184.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252534
2025-06-05T16:49:44.215Z,1749142184.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:44.218Z,1749142184.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 222.994125 m,
      bearing: 328.948093 deg,
      approach rate: -0.646575 m/s,
      LOS rate: -0.014808 deg/s,
      cmd heading: 328.444208 deg,
      new cmd heading: 328.425233 deg.

2025-06-05T16:49:44.219Z,1749142184.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732101 target range: 254.019379 and range: 253.60 m.
2025-06-05T16:49:44.289Z,1749142184.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505947
2025-06-05T16:49:44.540Z,1749142184.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757378
2025-06-05T16:49:44.586Z,1749142184.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:44.589Z,1749142184.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 222.755280 m,
      bearing: 328.942739 deg,
      approach rate: -0.644163 m/s,
      LOS rate: -0.014456 deg/s,
      cmd heading: 328.425220 deg,
      new cmd heading: 328.409140 deg.

2025-06-05T16:49:44.590Z,1749142184.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731821 target range: 254.019379 and range: 253.60 m.
2025-06-05T16:49:44.794Z,1749142184.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011523
2025-06-05T16:49:45.040Z,1749142185.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:45.043Z,1749142185.043 [DAT](INFO): DAT read: Rx Time:16:49:43.6440

2025-06-05T16:49:45.044Z,1749142185.044 [DAT](INFO): Rx dataTimestamp_ set to:1749142185.043421
2025-06-05T16:49:45.044Z,1749142185.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261609
2025-06-05T16:49:45.062Z,1749142185.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 222.467865 m,
      bearing: 328.935480 deg,
      approach rate: -0.632889 m/s,
      LOS rate: -0.016005 deg/s,
      cmd heading: 328.409128 deg,
      new cmd heading: 328.387324 deg.

2025-06-05T16:49:45.064Z,1749142185.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731440 target range: 254.019379 and range: 253.60 m.
2025-06-05T16:49:45.296Z,1749142185.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513360
2025-06-05T16:49:45.511Z,1749142185.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:45.515Z,1749142185.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.02 m.
2025-06-05T16:49:45.535Z,1749142185.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.019379 m,
      nav range: 222.168335 m,
      bearing: 328.928012 deg,
      approach rate: -0.631733 m/s,
      LOS rate: -0.015771 deg/s,
      cmd heading: 328.387326 deg,
      new cmd heading: 328.364894 deg.

2025-06-05T16:49:45.537Z,1749142185.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731049 target range: 254.019379 and range: 253.60 m.
2025-06-05T16:49:45.556Z,1749142185.556 [DAT](INFO): DAT read: 16:49:43.6440 LVL= 22288, 32753, 21090, 32307, AGC= 64, IDX= 407, 0.29, 1.182,-0.060, 1.085, 0.466, PHS= 0.804,-0.479, 0.617, RAW= 142.2, -15.5, CAL= 148.5, -23.9, ROT=   1.5,  23.9

2025-06-05T16:49:45.557Z,1749142185.557 [DAT](INFO): got valid direction response:
 16:49:43.6440 LVL= 22288, 32753, 21090, 32307, AGC= 64, IDX= 407, 0.29, 1.182,-0.060, 1.085, 0.466, PHS= 0.804,-0.479, 0.617, RAW= 142.2, -15.5, CAL= 148.5, -23.9, ROT=   1.5,  23.9

2025-06-05T16:49:45.559Z,1749142185.559 [DAT](INFO): DAT read: Bearing   1.5,  23.9 (Local)

2025-06-05T16:49:45.559Z,1749142185.559 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,  23.9 (Local)

2025-06-05T16:49:45.560Z,1749142185.560 [DAT](INFO): DAT read: Range 10 to 50 : 251.6 m  (Round-trip  335.5 ms) speed  0.4 m/s

2025-06-05T16:49:45.561Z,1749142185.561 [DAT](INFO): DAT read: user:2407>

2025-06-05T16:49:45.562Z,1749142185.562 [DAT](INFO): DAT read: Tx time:16:49:44.7543

2025-06-05T16:49:45.563Z,1749142185.563 [DAT](INFO): Ping request sent.
2025-06-05T16:49:45.564Z,1749142185.564 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:45.564Z,1749142185.564 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:49:45.565Z,1749142185.565 [DAT](INFO): direction in FSK: [0.913941,0.023932,-0.405142]
2025-06-05T16:49:45.565Z,1749142185.565 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:45.566Z,1749142185.566 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:45.591Z,1749142185.591 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:45.591Z,1749142185.591 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:45.800Z,1749142185.800 [DAT](INFO): DAT read: TxSync time:16:49:44.7536

2025-06-05T16:49:45.937Z,1749142185.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 251.600006 m,
      deltaT: 3.780456 s,
      deltaX: -2.000000 m,
      approachRate: -0.529037 m/s,
      rangeRepo size: 4

2025-06-05T16:49:45.943Z,1749142185.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 249.554398 m,
      bearing: 332.371493 deg,
      lat: 36.906214 deg,
      lon: -122.116215 deg,
      deltaT: 7.560703 s,
      deltaX: -4.464981 m,
      approachRate: -0.590551 m/s,
      posRepo size: 4

2025-06-05T16:49:45.944Z,1749142185.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.55 m.
2025-06-05T16:49:45.961Z,1749142185.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.554398 m,
      nav range: 221.913681 m,
      bearing: 328.921748 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015771 deg/s,
      cmd heading: 328.364896 deg,
      new cmd heading: 328.344911 deg.

2025-06-05T16:49:45.978Z,1749142185.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730700 target range: 249.554398 and range: 251.60 m.
2025-06-05T16:49:46.488Z,1749142186.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.55 m.
2025-06-05T16:49:46.495Z,1749142186.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.554398 m,
      nav range: 221.579987 m,
      bearing: 328.911517 deg,
      approach rate: -0.605181 m/s,
      LOS rate: -0.018583 deg/s,
      cmd heading: 328.344925 deg,
      new cmd heading: 328.314185 deg.

2025-06-05T16:49:46.496Z,1749142186.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730164 target range: 249.554398 and range: 251.60 m.
2025-06-05T16:49:46.840Z,1749142186.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.55 m.
2025-06-05T16:49:46.843Z,1749142186.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.554398 m,
      nav range: 221.339233 m,
      bearing: 328.904300 deg,
      approach rate: -0.683247 m/s,
      LOS rate: -0.020504 deg/s,
      cmd heading: 328.314189 deg,
      new cmd heading: 328.292514 deg.

2025-06-05T16:49:46.844Z,1749142186.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729785 target range: 249.554398 and range: 251.60 m.
2025-06-05T16:49:47.251Z,1749142187.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.55 m.
2025-06-05T16:49:47.270Z,1749142187.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.554398 m,
      nav range: 221.087250 m,
      bearing: 328.895182 deg,
      approach rate: -0.612915 m/s,
      LOS rate: -0.022204 deg/s,
      cmd heading: 328.292523 deg,
      new cmd heading: 328.265137 deg.

2025-06-05T16:49:47.271Z,1749142187.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729308 target range: 249.554398 and range: 251.60 m.
2025-06-05T16:49:47.644Z,1749142187.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:47.650Z,1749142187.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.55 m.
2025-06-05T16:49:47.653Z,1749142187.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.554398 m,
      nav range: 220.849167 m,
      bearing: 328.886491 deg,
      approach rate: -0.603897 m/s,
      LOS rate: -0.022068 deg/s,
      cmd heading: 328.265148 deg,
      new cmd heading: 328.239048 deg.

2025-06-05T16:49:47.660Z,1749142187.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728852 target range: 249.554398 and range: 251.60 m.
2025-06-05T16:49:47.815Z,1749142187.815 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:47.815Z,1749142187.815 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:47.815Z,1749142187.815 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:48.067Z,1749142188.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503960
2025-06-05T16:49:48.111Z,1749142188.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.55 m.
2025-06-05T16:49:48.116Z,1749142188.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.554398 m,
      nav range: 220.561844 m,
      bearing: 328.872789 deg,
      approach rate: -0.618261 m/s,
      LOS rate: -0.029522 deg/s,
      cmd heading: 328.239057 deg,
      new cmd heading: 328.197898 deg.

2025-06-05T16:49:48.117Z,1749142188.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728134 target range: 249.554398 and range: 251.60 m.
2025-06-05T16:49:48.323Z,1749142188.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759901
2025-06-05T16:49:48.453Z,1749142188.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.55 m.
2025-06-05T16:49:48.456Z,1749142188.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.554398 m,
      nav range: 220.357285 m,
      bearing: 328.863013 deg,
      approach rate: -0.597421 m/s,
      LOS rate: -0.028580 deg/s,
      cmd heading: 328.197912 deg,
      new cmd heading: 328.168554 deg.

2025-06-05T16:49:48.457Z,1749142188.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727622 target range: 249.554398 and range: 251.60 m.
2025-06-05T16:49:48.572Z,1749142188.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008659
2025-06-05T16:49:48.823Z,1749142188.823 [DAT](INFO): DAT read: Rx Time:16:49:47.4902

2025-06-05T16:49:48.824Z,1749142188.824 [DAT](INFO): Rx dataTimestamp_ set to:1749142188.823258
2025-06-05T16:49:48.824Z,1749142188.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260913
2025-06-05T16:49:48.881Z,1749142188.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.55 m.
2025-06-05T16:49:48.888Z,1749142188.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.554398 m,
      nav range: 220.104080 m,
      bearing: 328.850885 deg,
      approach rate: -0.590572 m/s,
      LOS rate: -0.028320 deg/s,
      cmd heading: 328.168542 deg,
      new cmd heading: 328.132116 deg.

2025-06-05T16:49:48.889Z,1749142188.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726986 target range: 249.554398 and range: 251.60 m.
2025-06-05T16:49:49.075Z,1749142189.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512185
2025-06-05T16:49:49.334Z,1749142189.334 [DAT](INFO): DAT read: 16:49:47.4902 LVL= 23568, 28657, 23362, 32755, AGC= 66, IDX= 399, 0.18,-2.073, 2.929,-2.170,-2.943, PHS= 0.957,-0.364, 0.770, RAW= 142.5, -21.3, CAL= 147.7, -28.5, ROT=   2.3,  28.5

2025-06-05T16:49:49.335Z,1749142189.335 [DAT](INFO): got valid direction response:
 16:49:47.4902 LVL= 23568, 28657, 23362, 32755, AGC= 66, IDX= 399, 0.18,-2.073, 2.929,-2.170,-2.943, PHS= 0.957,-0.364, 0.770, RAW= 142.5, -21.3, CAL= 147.7, -28.5, ROT=   2.3,  28.5

2025-06-05T16:49:49.336Z,1749142189.336 [DAT](INFO): DAT read: Bearing   2.3,  28.5 (Local)

2025-06-05T16:49:49.336Z,1749142189.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3,  28.5 (Local)

2025-06-05T16:49:49.338Z,1749142189.338 [DAT](INFO): DAT read: Range 10 to 50 : 248.7 m  (Round-trip  331.7 ms) speed  0.6 m/s

2025-06-05T16:49:49.339Z,1749142189.339 [DAT](INFO): DAT read: user:2408>

2025-06-05T16:49:49.340Z,1749142189.340 [DAT](INFO): DAT read: Tx time:16:49:48.6043

2025-06-05T16:49:49.340Z,1749142189.340 [DAT](INFO): Ping request sent.
2025-06-05T16:49:49.340Z,1749142189.340 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:49.341Z,1749142189.341 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:49:49.342Z,1749142189.342 [DAT](INFO): direction in FSK: [0.878109,0.035269,-0.477159]
2025-06-05T16:49:49.342Z,1749142189.342 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:49.342Z,1749142189.342 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:49.354Z,1749142189.354 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:49.354Z,1749142189.354 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:49.429Z,1749142189.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 248.699997 m,
      deltaT: 3.779133 s,
      deltaX: -2.900009 m,
      approachRate: -0.767374 m/s,
      rangeRepo size: 4

2025-06-05T16:49:49.437Z,1749142189.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 246.677673 m,
      bearing: 333.066459 deg,
      lat: 36.906235 deg,
      lon: -122.116215 deg,
      deltaT: 3.779133 s,
      deltaX: -2.876724 m,
      approachRate: -0.761213 m/s,
      posRepo size: 4

2025-06-05T16:49:49.439Z,1749142189.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.68 m.
2025-06-05T16:49:49.441Z,1749142189.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.677673 m,
      nav range: 221.783386 m,
      bearing: 329.142286 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028320 deg/s,
      cmd heading: 328.132123 deg,
      new cmd heading: 328.085629 deg.

2025-06-05T16:49:49.446Z,1749142189.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726174 target range: 246.677673 and range: 248.70 m.
2025-06-05T16:49:49.580Z,1749142189.580 [DAT](INFO): DAT read: TxSync time:16:49:48.6036

2025-06-05T16:49:49.801Z,1749142189.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:49.808Z,1749142189.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.68 m.
2025-06-05T16:49:49.815Z,1749142189.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.677673 m,
      nav range: 221.482559 m,
      bearing: 329.125812 deg,
      approach rate: -0.793785 m/s,
      LOS rate: -0.043529 deg/s,
      cmd heading: 328.085623 deg,
      new cmd heading: 328.036134 deg.

2025-06-05T16:49:49.816Z,1749142189.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725311 target range: 246.677673 and range: 248.70 m.
2025-06-05T16:49:49.831Z,1749142189.831 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:49.831Z,1749142189.831 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:49.832Z,1749142189.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:50.083Z,1749142190.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.742955
2025-06-05T16:49:50.123Z,1749142190.123 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:49:50.192Z,1749142190.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.68 m.
2025-06-05T16:49:50.195Z,1749142190.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.677673 m,
      nav range: 221.222519 m,
      bearing: 329.111814 deg,
      approach rate: -0.676746 m/s,
      LOS rate: -0.036472 deg/s,
      cmd heading: 328.036145 deg,
      new cmd heading: 327.994102 deg.

2025-06-05T16:49:50.197Z,1749142190.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724577 target range: 246.677673 and range: 248.70 m.
2025-06-05T16:49:50.335Z,1749142190.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994850
2025-06-05T16:49:50.587Z,1749142190.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246735
2025-06-05T16:49:50.595Z,1749142190.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.68 m.
2025-06-05T16:49:50.599Z,1749142190.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.677673 m,
      nav range: 220.956146 m,
      bearing: 329.097968 deg,
      approach rate: -0.661965 m/s,
      LOS rate: -0.034451 deg/s,
      cmd heading: 327.994099 deg,
      new cmd heading: 327.952510 deg.

2025-06-05T16:49:50.600Z,1749142190.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723851 target range: 246.677673 and range: 248.70 m.
2025-06-05T16:49:50.839Z,1749142190.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498757
2025-06-05T16:49:50.977Z,1749142190.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.68 m.
2025-06-05T16:49:50.981Z,1749142190.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.677673 m,
      nav range: 220.714722 m,
      bearing: 329.085527 deg,
      approach rate: -0.630402 m/s,
      LOS rate: -0.032520 deg/s,
      cmd heading: 327.952517 deg,
      new cmd heading: 327.915154 deg.

2025-06-05T16:49:50.983Z,1749142190.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723199 target range: 246.677673 and range: 248.70 m.
2025-06-05T16:49:51.091Z,1749142191.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750742
2025-06-05T16:49:51.127Z,1749142191.127 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:49:51.343Z,1749142191.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002526
2025-06-05T16:49:51.402Z,1749142191.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.68 m.
2025-06-05T16:49:51.404Z,1749142191.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.677673 m,
      nav range: 220.408524 m,
      bearing: 329.068967 deg,
      approach rate: -0.721842 m/s,
      LOS rate: -0.039094 deg/s,
      cmd heading: 327.915142 deg,
      new cmd heading: 327.865392 deg.

2025-06-05T16:49:51.405Z,1749142191.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722331 target range: 246.677673 and range: 248.70 m.
2025-06-05T16:49:51.595Z,1749142191.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254672
2025-06-05T16:49:51.768Z,1749142191.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.68 m.
2025-06-05T16:49:51.770Z,1749142191.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.677673 m,
      nav range: 220.157684 m,
      bearing: 329.055451 deg,
      approach rate: -0.685342 m/s,
      LOS rate: -0.036971 deg/s,
      cmd heading: 327.865391 deg,
      new cmd heading: 327.824795 deg.

2025-06-05T16:49:51.771Z,1749142191.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721622 target range: 246.677673 and range: 248.70 m.
2025-06-05T16:49:51.848Z,1749142191.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507614
2025-06-05T16:49:52.103Z,1749142192.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762314
2025-06-05T16:49:52.206Z,1749142192.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:52.208Z,1749142192.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.68 m.
2025-06-05T16:49:52.211Z,1749142192.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.677673 m,
      nav range: 219.837860 m,
      bearing: 329.039360 deg,
      approach rate: -0.726142 m/s,
      LOS rate: -0.036585 deg/s,
      cmd heading: 327.824792 deg,
      new cmd heading: 327.776452 deg.

2025-06-05T16:49:52.212Z,1749142192.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720778 target range: 246.677673 and range: 248.70 m.
2025-06-05T16:49:52.351Z,1749142192.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010687
2025-06-05T16:49:52.603Z,1749142192.603 [DAT](INFO): DAT read: Rx Time:16:49:51.3374

2025-06-05T16:49:52.604Z,1749142192.604 [DAT](INFO): Rx dataTimestamp_ set to:1749142192.603401
2025-06-05T16:49:52.604Z,1749142192.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263781
2025-06-05T16:49:52.609Z,1749142192.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.68 m.
2025-06-05T16:49:52.613Z,1749142192.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.677673 m,
      nav range: 219.552734 m,
      bearing: 329.025077 deg,
      approach rate: -0.711148 m/s,
      LOS rate: -0.035672 deg/s,
      cmd heading: 327.776462 deg,
      new cmd heading: 327.733555 deg.

2025-06-05T16:49:52.614Z,1749142192.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720030 target range: 246.677673 and range: 248.70 m.
2025-06-05T16:49:52.855Z,1749142192.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514721
2025-06-05T16:49:52.977Z,1749142192.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.68 m.
2025-06-05T16:49:52.981Z,1749142192.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.677673 m,
      nav range: 219.280380 m,
      bearing: 329.011472 deg,
      approach rate: -0.740491 m/s,
      LOS rate: -0.037036 deg/s,
      cmd heading: 327.733568 deg,
      new cmd heading: 327.692703 deg.

2025-06-05T16:49:52.982Z,1749142192.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719316 target range: 246.677673 and range: 248.70 m.
2025-06-05T16:49:53.111Z,1749142193.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770409
2025-06-05T16:49:53.369Z,1749142193.369 [DAT](INFO): DAT read: 16:49:51.3374 LVL= 26144, 32753, 29938, 32755, AGC= 64, IDX= 418, 0.16, 1.549, 0.223, 1.446, 0.734, PHS= 0.903,-0.464, 0.709, RAW= 142.5, -17.6, CAL= 148.4, -25.5, ROT=   1.6,  25.5

2025-06-05T16:49:53.370Z,1749142193.370 [DAT](INFO): got valid direction response:
 16:49:51.3374 LVL= 26144, 32753, 29938, 32755, AGC= 64, IDX= 418, 0.16, 1.549, 0.223, 1.446, 0.734, PHS= 0.903,-0.464, 0.709, RAW= 142.5, -17.6, CAL= 148.4, -25.5, ROT=   1.6,  25.5

2025-06-05T16:49:53.371Z,1749142193.371 [DAT](INFO): DAT read: Bearing   1.6,  25.5 (Local)

2025-06-05T16:49:53.371Z,1749142193.371 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  25.5 (Local)

2025-06-05T16:49:53.373Z,1749142193.373 [DAT](INFO): DAT read: Range 10 to 50 : 246.6 m  (Round-trip  328.8 ms) speed  0.4 m/s

2025-06-05T16:49:53.373Z,1749142193.373 [DAT](INFO): DAT read: user:2409>

2025-06-05T16:49:53.383Z,1749142193.383 [DAT](INFO): DAT read: Tx time:16:49:52.4544

2025-06-05T16:49:53.383Z,1749142193.383 [DAT](INFO): Ping request sent.
2025-06-05T16:49:53.383Z,1749142193.383 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:53.384Z,1749142193.384 [DAT](INFO): DAT read: TxSync time:16:49:52.4537

2025-06-05T16:49:53.385Z,1749142193.385 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:49:53.385Z,1749142193.385 [DAT](INFO): direction in FSK: [0.902233,0.025202,-0.430511]
2025-06-05T16:49:53.386Z,1749142193.386 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:53.390Z,1749142193.390 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:53.393Z,1749142193.393 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:53.393Z,1749142193.393 [DAT](INFO): publishing direction and range info
2025-06-05T16:49:53.525Z,1749142193.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 246.600006 m,
      deltaT: 4.032049 s,
      deltaX: -2.099991 m,
      approachRate: -0.520825 m/s,
      rangeRepo size: 4

2025-06-05T16:49:53.538Z,1749142193.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 244.596298 m,
      bearing: 331.072750 deg,
      lat: 36.906235 deg,
      lon: -122.116144 deg,
      deltaT: 4.032049 s,
      deltaX: -2.081375 m,
      approachRate: -0.516208 m/s,
      posRepo size: 4

2025-06-05T16:49:53.543Z,1749142193.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:53.567Z,1749142193.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 215.700531 m,
      bearing: 330.437238 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037036 deg/s,
      cmd heading: 327.692696 deg,
      new cmd heading: 327.632960 deg.

2025-06-05T16:49:53.568Z,1749142193.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718274 target range: 244.596298 and range: 246.60 m.
2025-06-05T16:49:53.932Z,1749142193.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:53.947Z,1749142193.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 215.383698 m,
      bearing: 330.425852 deg,
      approach rate: -0.762614 m/s,
      LOS rate: -0.027445 deg/s,
      cmd heading: 327.632973 deg,
      new cmd heading: 327.598766 deg.

2025-06-05T16:49:53.948Z,1749142193.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717677 target range: 244.596298 and range: 246.60 m.
2025-06-05T16:49:54.335Z,1749142194.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:54.337Z,1749142194.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:54.340Z,1749142194.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 215.090271 m,
      bearing: 330.415303 deg,
      approach rate: -0.721022 m/s,
      LOS rate: -0.025956 deg/s,
      cmd heading: 327.598767 deg,
      new cmd heading: 327.567078 deg.

2025-06-05T16:49:54.341Z,1749142194.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717124 target range: 244.596298 and range: 246.60 m.
2025-06-05T16:49:54.371Z,1749142194.371 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:54.371Z,1749142194.371 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:54.372Z,1749142194.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:54.625Z,1749142194.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240881
2025-06-05T16:49:54.715Z,1749142194.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:54.717Z,1749142194.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 214.815292 m,
      bearing: 330.405547 deg,
      approach rate: -0.730031 m/s,
      LOS rate: -0.025934 deg/s,
      cmd heading: 327.567075 deg,
      new cmd heading: 327.537769 deg.

2025-06-05T16:49:54.719Z,1749142194.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716612 target range: 244.596298 and range: 246.60 m.
2025-06-05T16:49:54.875Z,1749142194.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491585
2025-06-05T16:49:55.131Z,1749142195.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746495
2025-06-05T16:49:55.210Z,1749142195.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:55.214Z,1749142195.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 214.464035 m,
      bearing: 330.394506 deg,
      approach rate: -0.707289 m/s,
      LOS rate: -0.022269 deg/s,
      cmd heading: 327.537760 deg,
      new cmd heading: 327.504582 deg.

2025-06-05T16:49:55.215Z,1749142195.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716033 target range: 244.596298 and range: 246.60 m.
2025-06-05T16:49:55.380Z,1749142195.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996694
2025-06-05T16:49:55.633Z,1749142195.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248906
2025-06-05T16:49:55.771Z,1749142195.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:55.774Z,1749142195.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 214.080002 m,
      bearing: 330.382296 deg,
      approach rate: -0.684526 m/s,
      LOS rate: -0.021804 deg/s,
      cmd heading: 327.504593 deg,
      new cmd heading: 327.467895 deg.

2025-06-05T16:49:55.775Z,1749142195.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715393 target range: 244.596298 and range: 246.60 m.
2025-06-05T16:49:55.885Z,1749142195.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501903
2025-06-05T16:49:56.139Z,1749142196.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755219
2025-06-05T16:49:56.177Z,1749142196.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:56.184Z,1749142196.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 213.811417 m,
      bearing: 330.373664 deg,
      approach rate: -0.662209 m/s,
      LOS rate: -0.021307 deg/s,
      cmd heading: 327.467901 deg,
      new cmd heading: 327.441975 deg.

2025-06-05T16:49:56.185Z,1749142196.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714941 target range: 244.596298 and range: 246.60 m.
2025-06-05T16:49:56.388Z,1749142196.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004924
2025-06-05T16:49:56.641Z,1749142196.641 [DAT](INFO): DAT read: Rx Time:16:49:55.1846

2025-06-05T16:49:56.642Z,1749142196.642 [DAT](INFO): Rx dataTimestamp_ set to:1749142196.641278
2025-06-05T16:49:56.644Z,1749142196.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260010
2025-06-05T16:49:56.703Z,1749142196.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:56.705Z,1749142196.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:56.709Z,1749142196.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 213.424561 m,
      bearing: 330.361344 deg,
      approach rate: -0.732023 m/s,
      LOS rate: -0.023355 deg/s,
      cmd heading: 327.441974 deg,
      new cmd heading: 327.404946 deg.

2025-06-05T16:49:56.710Z,1749142196.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714294 target range: 244.596298 and range: 246.60 m.
2025-06-05T16:49:56.891Z,1749142196.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507601
2025-06-05T16:49:57.030Z,1749142197.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:57.037Z,1749142197.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 213.214920 m,
      bearing: 330.354615 deg,
      approach rate: -0.647272 m/s,
      LOS rate: -0.020799 deg/s,
      cmd heading: 327.404954 deg,
      new cmd heading: 327.384745 deg.

2025-06-05T16:49:57.042Z,1749142197.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713942 target range: 244.596298 and range: 246.60 m.
2025-06-05T16:49:57.153Z,1749142197.153 [DAT](INFO): DAT read: Range 10 to 50 : 244.5 m  (Round-trip  326.0 ms) speed  0.3 m/s

2025-06-05T16:49:57.157Z,1749142197.157 [DAT](INFO): DAT read: user:2410>

2025-06-05T16:49:57.166Z,1749142197.166 [DAT](INFO): DAT read: Tx time:16:49:56.3044

2025-06-05T16:49:57.167Z,1749142197.167 [DAT](INFO): Ping request sent.
2025-06-05T16:49:57.167Z,1749142197.167 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:49:57.167Z,1749142197.167 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:49:57.167Z,1749142197.167 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:57.168Z,1749142197.168 [DAT](INFO): publishing transmit ping time
2025-06-05T16:49:57.396Z,1749142197.396 [DAT](INFO): DAT read: TxSync time:16:49:56.3037

2025-06-05T16:49:57.466Z,1749142197.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 244.500000 m,
      deltaT: 3.786061 s,
      deltaX: -2.100006 m,
      approachRate: -0.554668 m/s,
      rangeRepo size: 4

2025-06-05T16:49:57.467Z,1749142197.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:57.469Z,1749142197.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 212.925034 m,
      bearing: 330.347107 deg,
      approach rate: -0.664925 m/s,
      LOS rate: -0.017245 deg/s,
      cmd heading: 327.384737 deg,
      new cmd heading: 327.362182 deg.

2025-06-05T16:49:57.471Z,1749142197.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713548 target range: 244.596298 and range: 244.50 m.
2025-06-05T16:49:57.836Z,1749142197.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:57.843Z,1749142197.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 212.691452 m,
      bearing: 330.341055 deg,
      approach rate: -0.629989 m/s,
      LOS rate: -0.016340 deg/s,
      cmd heading: 327.362170 deg,
      new cmd heading: 327.343994 deg.

2025-06-05T16:49:57.844Z,1749142197.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713231 target range: 244.596298 and range: 244.50 m.
2025-06-05T16:49:58.250Z,1749142198.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:58.253Z,1749142198.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 212.431732 m,
      bearing: 330.334878 deg,
      approach rate: -0.626746 m/s,
      LOS rate: -0.014923 deg/s,
      cmd heading: 327.344001 deg,
      new cmd heading: 327.325449 deg.

2025-06-05T16:49:58.254Z,1749142198.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712907 target range: 244.596298 and range: 244.50 m.
2025-06-05T16:49:58.653Z,1749142198.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:58.661Z,1749142198.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 212.201324 m,
      bearing: 330.329341 deg,
      approach rate: -0.571221 m/s,
      LOS rate: -0.013743 deg/s,
      cmd heading: 327.325451 deg,
      new cmd heading: 327.308820 deg.

2025-06-05T16:49:58.662Z,1749142198.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712616 target range: 244.596298 and range: 244.50 m.
2025-06-05T16:49:59.025Z,1749142199.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:49:59.028Z,1749142199.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:59.032Z,1749142199.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 211.951553 m,
      bearing: 330.323150 deg,
      approach rate: -0.667668 m/s,
      LOS rate: -0.016570 deg/s,
      cmd heading: 327.308812 deg,
      new cmd heading: 327.290216 deg.

2025-06-05T16:49:59.033Z,1749142199.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712292 target range: 244.596298 and range: 244.50 m.
2025-06-05T16:49:59.162Z,1749142199.162 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:49:59.162Z,1749142199.162 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:49:59.164Z,1749142199.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:49:59.411Z,1749142199.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244129
2025-06-05T16:49:59.473Z,1749142199.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:59.477Z,1749142199.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 211.681900 m,
      bearing: 330.318160 deg,
      approach rate: -0.604847 m/s,
      LOS rate: -0.011206 deg/s,
      cmd heading: 327.290207 deg,
      new cmd heading: 327.275219 deg.

2025-06-05T16:49:59.478Z,1749142199.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712030 target range: 244.596298 and range: 244.50 m.
2025-06-05T16:49:59.664Z,1749142199.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497063
2025-06-05T16:49:59.844Z,1749142199.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:49:59.849Z,1749142199.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 211.457748 m,
      bearing: 330.314002 deg,
      approach rate: -0.605283 m/s,
      LOS rate: -0.011239 deg/s,
      cmd heading: 327.275208 deg,
      new cmd heading: 327.262722 deg.

2025-06-05T16:49:59.850Z,1749142199.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711812 target range: 244.596298 and range: 244.50 m.
2025-06-05T16:49:59.917Z,1749142199.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750517
2025-06-05T16:50:00.173Z,1749142200.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005324
2025-06-05T16:50:00.301Z,1749142200.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:50:00.304Z,1749142200.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 211.188156 m,
      bearing: 330.309546 deg,
      approach rate: -0.590022 m/s,
      LOS rate: -0.009766 deg/s,
      cmd heading: 327.262722 deg,
      new cmd heading: 327.249336 deg.

2025-06-05T16:50:00.305Z,1749142200.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711578 target range: 244.596298 and range: 244.50 m.
2025-06-05T16:50:00.423Z,1749142200.423 [DAT](INFO): DAT read: Rx Time:16:49:59.0322

2025-06-05T16:50:00.424Z,1749142200.424 [DAT](INFO): Rx dataTimestamp_ set to:1749142200.423264
2025-06-05T16:50:00.424Z,1749142200.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257163
2025-06-05T16:50:00.678Z,1749142200.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510873
2025-06-05T16:50:00.770Z,1749142200.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.60 m.
2025-06-05T16:50:00.773Z,1749142200.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.596298 m,
      nav range: 210.904938 m,
      bearing: 330.304985 deg,
      approach rate: -0.603945 m/s,
      LOS rate: -0.009739 deg/s,
      cmd heading: 327.249335 deg,
      new cmd heading: 327.235634 deg.

2025-06-05T16:50:00.774Z,1749142200.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711339 target range: 244.596298 and range: 244.50 m.
2025-06-05T16:50:00.934Z,1749142200.934 [DAT](INFO): DAT read: 16:49:59.0322 LVL= 24416, 32753, 22866, 27939, AGC= 66, IDX= 180,-0.10,-2.778, 2.113, 3.127, 2.848, PHS= 0.745,-0.688, 0.277, RAW= 131.3,  -5.3, CAL= 136.5, -16.4, ROT=  13.5,  16.4

2025-06-05T16:50:00.935Z,1749142200.935 [DAT](INFO): got valid direction response:
 16:49:59.0322 LVL= 24416, 32753, 22866, 27939, AGC= 66, IDX= 180,-0.10,-2.778, 2.113, 3.127, 2.848, PHS= 0.745,-0.688, 0.277, RAW= 131.3,  -5.3, CAL= 136.5, -16.4, ROT=  13.5,  16.4

2025-06-05T16:50:00.936Z,1749142200.936 [DAT](INFO): DAT read: Bearing  13.5,  16.4 (Local)

2025-06-05T16:50:00.936Z,1749142200.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.5,  16.4 (Local)

2025-06-05T16:50:00.938Z,1749142200.938 [DAT](INFO): DAT read: Range 10 to 50 : 242.7 m  (Round-trip  323.6 ms) speed  0.4 m/s

2025-06-05T16:50:00.939Z,1749142200.939 [DAT](INFO): DAT read: user:2411>

2025-06-05T16:50:00.940Z,1749142200.940 [DAT](INFO): DAT read: Tx time:16:50:00.1544

2025-06-05T16:50:00.940Z,1749142200.940 [DAT](INFO): Ping request sent.
2025-06-05T16:50:00.940Z,1749142200.940 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:50:00.940Z,1749142200.940 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:50:00.941Z,1749142200.941 [DAT](INFO): direction in FSK: [0.932808,0.223947,-0.282341]
2025-06-05T16:50:00.941Z,1749142200.941 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:00.942Z,1749142200.942 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:00.945Z,1749142200.945 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:00.946Z,1749142200.946 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:01.183Z,1749142201.183 [DAT](INFO): DAT read: TxSync time:16:50:00.1537

2025-06-05T16:50:01.248Z,1749142201.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 242.699997 m,
      deltaT: 3.781888 s,
      deltaX: -1.800003 m,
      approachRate: -0.475954 m/s,
      rangeRepo size: 4

2025-06-05T16:50:01.254Z,1749142201.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 240.728027 m,
      bearing: 342.125095 deg,
      lat: 36.906279 deg,
      lon: -122.116097 deg,
      deltaT: 7.567949 s,
      deltaX: -3.868271 m,
      approachRate: -0.511139 m/s,
      posRepo size: 4

2025-06-05T16:50:01.259Z,1749142201.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:01.261Z,1749142201.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 212.989044 m,
      bearing: 331.935522 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009739 deg/s,
      cmd heading: 327.235647 deg,
      new cmd heading: 327.221961 deg.

2025-06-05T16:50:01.263Z,1749142201.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711101 target range: 240.728027 and range: 242.70 m.
2025-06-05T16:50:01.800Z,1749142201.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:01.803Z,1749142201.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:01.805Z,1749142201.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 212.602844 m,
      bearing: 331.934022 deg,
      approach rate: -0.683845 m/s,
      LOS rate: -0.002660 deg/s,
      cmd heading: 327.221960 deg,
      new cmd heading: 327.217452 deg.

2025-06-05T16:50:01.807Z,1749142201.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711022 target range: 240.728027 and range: 242.70 m.
2025-06-05T16:50:01.939Z,1749142201.939 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:50:01.939Z,1749142201.939 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:50:01.939Z,1749142201.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:02.160Z,1749142202.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:02.164Z,1749142202.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 212.390106 m,
      bearing: 331.933161 deg,
      approach rate: -0.595441 m/s,
      LOS rate: -0.002414 deg/s,
      cmd heading: 327.217452 deg,
      new cmd heading: 327.214865 deg.

2025-06-05T16:50:02.165Z,1749142202.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710977 target range: 240.728027 and range: 242.70 m.
2025-06-05T16:50:02.195Z,1749142202.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253966
2025-06-05T16:50:02.443Z,1749142202.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502977
2025-06-05T16:50:02.607Z,1749142202.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:02.615Z,1749142202.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 212.108276 m,
      bearing: 331.930256 deg,
      approach rate: -0.629970 m/s,
      LOS rate: -0.006502 deg/s,
      cmd heading: 327.214856 deg,
      new cmd heading: 327.206130 deg.

2025-06-05T16:50:02.616Z,1749142202.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710824 target range: 240.728027 and range: 242.70 m.
2025-06-05T16:50:02.695Z,1749142202.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755100
2025-06-05T16:50:02.948Z,1749142202.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007672
2025-06-05T16:50:02.967Z,1749142202.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:02.970Z,1749142202.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 211.881256 m,
      bearing: 331.927887 deg,
      approach rate: -0.630561 m/s,
      LOS rate: -0.006586 deg/s,
      cmd heading: 327.206141 deg,
      new cmd heading: 327.199027 deg.

2025-06-05T16:50:02.971Z,1749142202.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710701 target range: 240.728027 and range: 242.70 m.
2025-06-05T16:50:03.203Z,1749142203.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262261
2025-06-05T16:50:03.409Z,1749142203.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:03.417Z,1749142203.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 211.615402 m,
      bearing: 331.923735 deg,
      approach rate: -0.601686 m/s,
      LOS rate: -0.009409 deg/s,
      cmd heading: 327.199037 deg,
      new cmd heading: 327.186565 deg.

2025-06-05T16:50:03.418Z,1749142203.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710483 target range: 240.728027 and range: 242.70 m.
2025-06-05T16:50:03.451Z,1749142203.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511165
2025-06-05T16:50:03.704Z,1749142203.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764290
2025-06-05T16:50:03.803Z,1749142203.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:03.806Z,1749142203.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 211.370926 m,
      bearing: 331.919990 deg,
      approach rate: -0.620984 m/s,
      LOS rate: -0.009524 deg/s,
      cmd heading: 327.186552 deg,
      new cmd heading: 327.175304 deg.

2025-06-05T16:50:03.811Z,1749142203.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710286 target range: 240.728027 and range: 242.70 m.
2025-06-05T16:50:03.955Z,1749142203.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015015
2025-06-05T16:50:04.175Z,1749142204.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:04.177Z,1749142204.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:04.207Z,1749142204.207 [DAT](INFO): DAT read: Rx Time:16:50:02.8784

2025-06-05T16:50:04.208Z,1749142204.208 [DAT](INFO): Rx dataTimestamp_ set to:1749142204.207648
2025-06-05T16:50:04.208Z,1749142204.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268431
2025-06-05T16:50:04.216Z,1749142204.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 211.114914 m,
      bearing: 331.916117 deg,
      approach rate: -0.683880 m/s,
      LOS rate: -0.010358 deg/s,
      cmd heading: 327.175296 deg,
      new cmd heading: 327.163663 deg.

2025-06-05T16:50:04.224Z,1749142204.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710083 target range: 240.728027 and range: 242.70 m.
2025-06-05T16:50:04.459Z,1749142204.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519042
2025-06-05T16:50:04.621Z,1749142204.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:04.640Z,1749142204.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 210.821671 m,
      bearing: 331.908948 deg,
      approach rate: -0.660290 m/s,
      LOS rate: -0.016165 deg/s,
      cmd heading: 327.163657 deg,
      new cmd heading: 327.142120 deg.

2025-06-05T16:50:04.641Z,1749142204.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709707 target range: 240.728027 and range: 242.70 m.
2025-06-05T16:50:04.713Z,1749142204.713 [DAT](INFO): DAT read: Range 10 to 50 : 239.8 m  (Round-trip  319.8 ms) speed  0.7 m/s

2025-06-05T16:50:04.715Z,1749142204.715 [DAT](INFO): DAT read: user:2412>

2025-06-05T16:50:04.716Z,1749142204.717 [DAT](INFO): DAT read: Tx time:16:50:03.9544

2025-06-05T16:50:04.717Z,1749142204.717 [DAT](INFO): Ping request sent.
2025-06-05T16:50:04.718Z,1749142204.718 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:50:04.720Z,1749142204.720 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:50:04.720Z,1749142204.720 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:04.721Z,1749142204.721 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:04.964Z,1749142204.964 [DAT](INFO): DAT read: TxSync time:16:50:03.9537

2025-06-05T16:50:04.992Z,1749142204.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 239.800003 m,
      deltaT: 3.784124 s,
      deltaX: -2.899994 m,
      approachRate: -0.766358 m/s,
      rangeRepo size: 4

2025-06-05T16:50:04.993Z,1749142204.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:04.996Z,1749142204.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 210.578842 m,
      bearing: 331.903131 deg,
      approach rate: -0.656587 m/s,
      LOS rate: -0.015747 deg/s,
      cmd heading: 327.142128 deg,
      new cmd heading: 327.124657 deg.

2025-06-05T16:50:04.998Z,1749142204.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709403 target range: 240.728027 and range: 239.80 m.
2025-06-05T16:50:05.427Z,1749142205.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:05.432Z,1749142205.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 210.283981 m,
      bearing: 331.894341 deg,
      approach rate: -0.676325 m/s,
      LOS rate: -0.020190 deg/s,
      cmd heading: 327.124670 deg,
      new cmd heading: 327.098263 deg.

2025-06-05T16:50:05.433Z,1749142205.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708941 target range: 240.728027 and range: 239.80 m.
2025-06-05T16:50:05.831Z,1749142205.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:05.833Z,1749142205.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 210.002747 m,
      bearing: 331.885934 deg,
      approach rate: -0.697946 m/s,
      LOS rate: -0.020891 deg/s,
      cmd heading: 327.098251 deg,
      new cmd heading: 327.072997 deg.

2025-06-05T16:50:05.835Z,1749142205.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708501 target range: 240.728027 and range: 239.80 m.
2025-06-05T16:50:06.203Z,1749142206.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:06.208Z,1749142206.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:06.214Z,1749142206.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 209.745483 m,
      bearing: 331.878330 deg,
      approach rate: -0.685785 m/s,
      LOS rate: -0.020295 deg/s,
      cmd heading: 327.073007 deg,
      new cmd heading: 327.050167 deg.

2025-06-05T16:50:06.215Z,1749142206.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708102 target range: 240.728027 and range: 239.80 m.
2025-06-05T16:50:06.233Z,1749142206.233 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:50:06.234Z,1749142206.234 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:50:06.234Z,1749142206.234 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:06.483Z,1749142206.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765657
2025-06-05T16:50:06.663Z,1749142206.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:06.666Z,1749142206.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 209.432861 m,
      bearing: 331.866904 deg,
      approach rate: -0.682538 m/s,
      LOS rate: -0.024983 deg/s,
      cmd heading: 327.050167 deg,
      new cmd heading: 327.015837 deg.

2025-06-05T16:50:06.667Z,1749142206.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707503 target range: 240.728027 and range: 239.80 m.
2025-06-05T16:50:06.737Z,1749142206.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019283
2025-06-05T16:50:06.987Z,1749142206.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269576
2025-06-05T16:50:07.064Z,1749142207.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:07.067Z,1749142207.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 209.156754 m,
      bearing: 331.856703 deg,
      approach rate: -0.692281 m/s,
      LOS rate: -0.025610 deg/s,
      cmd heading: 327.015824 deg,
      new cmd heading: 326.985181 deg.

2025-06-05T16:50:07.068Z,1749142207.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706968 target range: 240.728027 and range: 239.80 m.
2025-06-05T16:50:07.239Z,1749142207.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522009
2025-06-05T16:50:07.465Z,1749142207.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:07.468Z,1749142207.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 208.857574 m,
      bearing: 331.844406 deg,
      approach rate: -0.743599 m/s,
      LOS rate: -0.030608 deg/s,
      cmd heading: 326.985171 deg,
      new cmd heading: 326.948226 deg.

2025-06-05T16:50:07.469Z,1749142207.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706323 target range: 240.728027 and range: 239.80 m.
2025-06-05T16:50:07.491Z,1749142207.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773739
2025-06-05T16:50:07.744Z,1749142207.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026149
2025-06-05T16:50:07.861Z,1749142207.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:07.868Z,1749142207.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 208.593506 m,
      bearing: 331.833584 deg,
      approach rate: -0.666640 m/s,
      LOS rate: -0.027353 deg/s,
      cmd heading: 326.948233 deg,
      new cmd heading: 326.915728 deg.

2025-06-05T16:50:07.869Z,1749142207.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705756 target range: 240.728027 and range: 239.80 m.
2025-06-05T16:50:07.997Z,1749142207.997 [DAT](INFO): DAT read: Rx Time:16:50:06.6762

2025-06-05T16:50:07.998Z,1749142207.998 [DAT](INFO): Rx dataTimestamp_ set to:1749142207.997047
2025-06-05T16:50:07.998Z,1749142207.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280779
2025-06-05T16:50:08.234Z,1749142208.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:08.236Z,1749142208.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.73 m.
2025-06-05T16:50:08.240Z,1749142208.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.728027 m,
      nav range: 208.313843 m,
      bearing: 331.822206 deg,
      approach rate: -0.744391 m/s,
      LOS rate: -0.030327 deg/s,
      cmd heading: 326.915721 deg,
      new cmd heading: 326.881540 deg.

2025-06-05T16:50:08.241Z,1749142208.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705159 target range: 240.728027 and range: 239.80 m.
2025-06-05T16:50:08.248Z,1749142208.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530385
2025-06-05T16:50:08.512Z,1749142208.512 [DAT](INFO): DAT read: 16:50:06.6763 LVL= 29488, 32753, 29074, 32755, AGC= 61, IDX= 174,-0.17,-0.941,-2.380,-1.335,-1.660, PHS= 0.806,-0.673, 0.322, RAW= 131.3,  -7.0, CAL= 136.3, -18.9, ROT=  13.7,  18.9

2025-06-05T16:50:08.513Z,1749142208.513 [DAT](INFO): got valid direction response:
 16:50:06.6763 LVL= 29488, 32753, 29074, 32755, AGC= 61, IDX= 174,-0.17,-0.941,-2.380,-1.335,-1.660, PHS= 0.806,-0.673, 0.322, RAW= 131.3,  -7.0, CAL= 136.3, -18.9, ROT=  13.7,  18.9

2025-06-05T16:50:08.519Z,1749142208.519 [DAT](INFO): DAT read: Bearing  13.7,  18.9 (Local)

2025-06-05T16:50:08.520Z,1749142208.520 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.7,  18.9 (Local)

2025-06-05T16:50:08.523Z,1749142208.523 [DAT](INFO): DAT read: Range 10 to 50 : 238.2 m  (Round-trip  317.6 ms) speed  0.4 m/s

2025-06-05T16:50:08.524Z,1749142208.524 [DAT](INFO): DAT read: user:2413>

2025-06-05T16:50:08.526Z,1749142208.526 [DAT](INFO): DAT read: Tx time:16:50:07.7545

2025-06-05T16:50:08.526Z,1749142208.526 [DAT](INFO): Ping request sent.
2025-06-05T16:50:08.527Z,1749142208.527 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:50:08.527Z,1749142208.527 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:50:08.529Z,1749142208.529 [DAT](INFO): direction in FSK: [0.919168,0.224069,-0.323917]
2025-06-05T16:50:08.542Z,1749142208.542 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:08.581Z,1749142208.581 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:08.584Z,1749142208.584 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:08.584Z,1749142208.584 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:08.752Z,1749142208.752 [DAT](INFO): DAT read: TxSync time:16:50:07.7538

2025-06-05T16:50:08.764Z,1749142208.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 238.199997 m,
      deltaT: 3.789161 s,
      deltaX: -1.600006 m,
      approachRate: -0.422259 m/s,
      rangeRepo size: 4

2025-06-05T16:50:08.771Z,1749142208.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 236.263306 m,
      bearing: 341.461679 deg,
      lat: 36.906292 deg,
      lon: -122.116024 deg,
      deltaT: 7.573285 s,
      deltaX: -4.464722 m,
      approachRate: -0.589536 m/s,
      posRepo size: 4

2025-06-05T16:50:08.771Z,1749142208.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:08.774Z,1749142208.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 206.285248 m,
      bearing: 333.601139 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030327 deg/s,
      cmd heading: 326.881543 deg,
      new cmd heading: 326.833579 deg.

2025-06-05T16:50:08.785Z,1749142208.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704322 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:09.151Z,1749142209.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:09.154Z,1749142209.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 205.983383 m,
      bearing: 333.592832 deg,
      approach rate: -0.778511 m/s,
      LOS rate: -0.021453 deg/s,
      cmd heading: 326.833568 deg,
      new cmd heading: 326.808612 deg.

2025-06-05T16:50:09.155Z,1749142209.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703887 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:09.555Z,1749142209.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:09.563Z,1749142209.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 205.722794 m,
      bearing: 333.585501 deg,
      approach rate: -0.653287 m/s,
      LOS rate: -0.018403 deg/s,
      cmd heading: 326.808624 deg,
      new cmd heading: 326.786601 deg.

2025-06-05T16:50:09.564Z,1749142209.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703502 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:09.925Z,1749142209.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:09.930Z,1749142209.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 205.446396 m,
      bearing: 333.577898 deg,
      approach rate: -0.736793 m/s,
      LOS rate: -0.020295 deg/s,
      cmd heading: 326.786603 deg,
      new cmd heading: 326.763763 deg.

2025-06-05T16:50:09.931Z,1749142209.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703104 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:10.328Z,1749142210.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:10.353Z,1749142210.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:10.378Z,1749142210.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 205.166595 m,
      bearing: 333.570249 deg,
      approach rate: -0.656259 m/s,
      LOS rate: -0.017965 deg/s,
      cmd heading: 326.763763 deg,
      new cmd heading: 326.740784 deg.

2025-06-05T16:50:10.380Z,1749142210.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702703 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:10.515Z,1749142210.515 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:50:10.515Z,1749142210.515 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:50:10.516Z,1749142210.516 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:10.716Z,1749142210.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:10.739Z,1749142210.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 204.886353 m,
      bearing: 333.564812 deg,
      approach rate: -0.769454 m/s,
      LOS rate: -0.014947 deg/s,
      cmd heading: 326.740786 deg,
      new cmd heading: 326.724455 deg.

2025-06-05T16:50:10.740Z,1749142210.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702417 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:10.769Z,1749142210.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242361
2025-06-05T16:50:11.019Z,1749142211.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492511
2025-06-05T16:50:11.095Z,1749142211.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:11.099Z,1749142211.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 204.623825 m,
      bearing: 333.559701 deg,
      approach rate: -0.693788 m/s,
      LOS rate: -0.013524 deg/s,
      cmd heading: 326.724449 deg,
      new cmd heading: 326.709096 deg.

2025-06-05T16:50:11.100Z,1749142211.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702149 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:11.271Z,1749142211.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744520
2025-06-05T16:50:11.524Z,1749142211.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997760
2025-06-05T16:50:11.574Z,1749142211.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:11.577Z,1749142211.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 204.325424 m,
      bearing: 333.556176 deg,
      approach rate: -0.627026 m/s,
      LOS rate: -0.007418 deg/s,
      cmd heading: 326.709094 deg,
      new cmd heading: 326.698503 deg.

2025-06-05T16:50:11.583Z,1749142211.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701964 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:11.775Z,1749142211.775 [DAT](INFO): DAT read: Rx Time:16:50:10.4495

2025-06-05T16:50:11.776Z,1749142211.776 [DAT](INFO): Rx dataTimestamp_ set to:1749142211.775521
2025-06-05T16:50:11.776Z,1749142211.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249788
2025-06-05T16:50:11.949Z,1749142211.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:11.956Z,1749142211.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 204.080917 m,
      bearing: 333.553334 deg,
      approach rate: -0.644817 m/s,
      LOS rate: -0.007504 deg/s,
      cmd heading: 326.698494 deg,
      new cmd heading: 326.689958 deg.

2025-06-05T16:50:11.957Z,1749142211.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701816 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:12.028Z,1749142212.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501266
2025-06-05T16:50:12.289Z,1749142212.289 [DAT](INFO): DAT read: 16:50:10.4495 LVL= 25328, 32417, 23634, 32755, AGC= 68, IDX= 173, 0.34, 1.979, 0.159, 1.474, 1.187, PHS= 0.880,-0.981, 0.284, RAW= 131.7,  -2.3, CAL= 137.3, -11.9, ROT=  12.7,  11.9

2025-06-05T16:50:12.291Z,1749142212.291 [DAT](INFO): got valid direction response:
 16:50:10.4495 LVL= 25328, 32417, 23634, 32755, AGC= 68, IDX= 173, 0.34, 1.979, 0.159, 1.474, 1.187, PHS= 0.880,-0.981, 0.284, RAW= 131.7,  -2.3, CAL= 137.3, -11.9, ROT=  12.7,  11.9

2025-06-05T16:50:12.291Z,1749142212.291 [DAT](INFO): DAT read: Bearing  12.7,  11.9 (Local)

2025-06-05T16:50:12.292Z,1749142212.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.7,  11.9 (Local)

2025-06-05T16:50:12.293Z,1749142212.293 [DAT](INFO): DAT read: Range 10 to 50 : 218.1 m  (Round-trip  290.8 ms) speed  0.0 m/s

2025-06-05T16:50:12.294Z,1749142212.294 [DAT](INFO): DAT read: user:2414>

2025-06-05T16:50:12.294Z,1749142212.294 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:50:12.295Z,1749142212.295 [DAT](INFO): direction in FSK: [0.954569,0.215121,-0.206204]
2025-06-05T16:50:12.296Z,1749142212.296 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:12.301Z,1749142212.301 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:50:12.301Z,1749142212.301 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:50:12.302Z,1749142212.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:12.533Z,1749142212.533 [DAT](INFO): DAT read: Tx time:16:50:11.5545

2025-06-05T16:50:12.533Z,1749142212.533 [DAT](INFO): Ping request sent.
2025-06-05T16:50:12.533Z,1749142212.533 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:50:12.535Z,1749142212.535 [DAT](INFO): DAT read: TxSync time:16:50:11.5538

2025-06-05T16:50:12.535Z,1749142212.535 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:12.536Z,1749142212.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003008
2025-06-05T16:50:12.569Z,1749142212.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 218.100006 m,
 deltaT: 3.778563 s,
 deltaX: -20.099991 m,
 approachRate: -5.319480 m/s,
 rangeRepo size: 4
2025-06-05T16:50:12.569Z,1749142212.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:12.576Z,1749142212.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 203.711136 m,
      bearing: 333.553018 deg,
      approach rate: -0.597755 m/s,
      LOS rate: -0.000512 deg/s,
      cmd heading: 326.689970 deg,
      new cmd heading: 326.689019 deg.

2025-06-05T16:50:12.577Z,1749142212.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701799 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:12.784Z,1749142212.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251057
2025-06-05T16:50:12.878Z,1749142212.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:12.881Z,1749142212.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:12.887Z,1749142212.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 203.469177 m,
      bearing: 333.552899 deg,
      approach rate: -0.774193 m/s,
      LOS rate: -0.000382 deg/s,
      cmd heading: 326.689014 deg,
      new cmd heading: 326.688655 deg.

2025-06-05T16:50:12.889Z,1749142212.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701793 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:13.035Z,1749142213.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502117
2025-06-05T16:50:13.261Z,1749142213.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:13.281Z,1749142213.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 203.225815 m,
      bearing: 333.552842 deg,
      approach rate: -0.639411 m/s,
      LOS rate: -0.000149 deg/s,
      cmd heading: 326.688658 deg,
      new cmd heading: 326.688489 deg.

2025-06-05T16:50:13.287Z,1749142213.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754182
2025-06-05T16:50:13.288Z,1749142213.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701790 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:13.545Z,1749142213.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011020
2025-06-05T16:50:13.702Z,1749142213.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:13.716Z,1749142213.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 202.969727 m,
      bearing: 333.555827 deg,
      approach rate: -0.581346 m/s,
      LOS rate: 0.006783 deg/s,
      cmd heading: 326.688494 deg,
      new cmd heading: 326.697459 deg.

2025-06-05T16:50:13.717Z,1749142213.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701946 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:13.792Z,1749142213.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258836
2025-06-05T16:50:14.043Z,1749142214.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510220
2025-06-05T16:50:14.122Z,1749142214.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:14.125Z,1749142214.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 202.704910 m,
      bearing: 333.558875 deg,
      approach rate: -0.630116 m/s,
      LOS rate: 0.007262 deg/s,
      cmd heading: 326.697456 deg,
      new cmd heading: 326.706611 deg.

2025-06-05T16:50:14.126Z,1749142214.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702106 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:14.295Z,1749142214.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762084
2025-06-05T16:50:14.508Z,1749142214.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:14.516Z,1749142214.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 202.479370 m,
      bearing: 333.563460 deg,
      approach rate: -0.584545 m/s,
      LOS rate: 0.011899 deg/s,
      cmd heading: 326.706608 deg,
      new cmd heading: 326.720381 deg.

2025-06-05T16:50:14.517Z,1749142214.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702346 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:14.548Z,1749142214.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015298
2025-06-05T16:50:14.799Z,1749142214.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266176
2025-06-05T16:50:14.882Z,1749142214.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:14.884Z,1749142214.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:14.904Z,1749142214.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 202.249329 m,
      bearing: 333.568085 deg,
      approach rate: -0.610676 m/s,
      LOS rate: 0.012291 deg/s,
      cmd heading: 326.720378 deg,
      new cmd heading: 326.734267 deg.

2025-06-05T16:50:14.906Z,1749142214.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702589 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:15.052Z,1749142215.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518738
2025-06-05T16:50:15.290Z,1749142215.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:15.297Z,1749142215.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 202.011597 m,
      bearing: 333.572895 deg,
      approach rate: -0.586329 m/s,
      LOS rate: 0.011878 deg/s,
      cmd heading: 326.734257 deg,
      new cmd heading: 326.748704 deg.

2025-06-05T16:50:15.299Z,1749142215.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702841 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:15.305Z,1749142215.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771883
2025-06-05T16:50:15.555Z,1749142215.555 [DAT](INFO): DAT read: Rx Time:16:50:14.2468

2025-06-05T16:50:15.556Z,1749142215.556 [DAT](INFO): Rx dataTimestamp_ set to:1749142215.555514
2025-06-05T16:50:15.556Z,1749142215.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023357
2025-06-05T16:50:15.719Z,1749142215.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.26 m.
2025-06-05T16:50:15.722Z,1749142215.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.263306 m,
      nav range: 201.754501 m,
      bearing: 333.578357 deg,
      approach rate: -0.598730 m/s,
      LOS rate: 0.012736 deg/s,
      cmd heading: 326.748709 deg,
      new cmd heading: 326.765116 deg.

2025-06-05T16:50:15.723Z,1749142215.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703127 target range: 236.263306 and range: 238.20 m.
2025-06-05T16:50:15.810Z,1749142215.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277267
2025-06-05T16:50:16.081Z,1749142216.081 [DAT](INFO): DAT read: 16:50:14.2468 LVL= 26608, 32753, 24978, 28803, AGC= 67, IDX= 418, 0.46, 0.194,-1.732,-0.263,-0.629, PHS= 0.911,-1.057, 0.363, RAW= 134.3,  -2.5, CAL= 139.8, -12.2, ROT=  10.2,  12.2

2025-06-05T16:50:16.082Z,1749142216.082 [DAT](INFO): got valid direction response:
 16:50:14.2468 LVL= 26608, 32753, 24978, 28803, AGC= 67, IDX= 418, 0.46, 0.194,-1.732,-0.263,-0.629, PHS= 0.911,-1.057, 0.363, RAW= 134.3,  -2.5, CAL= 139.8, -12.2, ROT=  10.2,  12.2

2025-06-05T16:50:16.083Z,1749142216.083 [DAT](INFO): DAT read: Bearing  10.2,  12.2 (Local)

2025-06-05T16:50:16.084Z,1749142216.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.2,  12.2 (Local)

2025-06-05T16:50:16.085Z,1749142216.085 [DAT](INFO): DAT read: Range 10 to 50 : 216.0 m  (Round-trip  288.1 ms) speed  0.4 m/s

2025-06-05T16:50:16.086Z,1749142216.086 [DAT](INFO): DAT read: user:2415>

2025-06-05T16:50:16.108Z,1749142216.108 [DAT](INFO): DAT read: Tx time:16:50:15.3545

2025-06-05T16:50:16.108Z,1749142216.108 [DAT](INFO): Ping request sent.
2025-06-05T16:50:16.108Z,1749142216.108 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:50:16.108Z,1749142216.108 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:50:16.109Z,1749142216.109 [DAT](INFO): direction in FSK: [0.961968,0.173085,-0.211325]
2025-06-05T16:50:16.110Z,1749142216.110 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:16.110Z,1749142216.110 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:16.134Z,1749142216.134 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:16.135Z,1749142216.135 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:16.229Z,1749142216.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 216.000000 m,
      deltaT: 7.564680 s,
      deltaX: -22.199997 m,
      approachRate: -2.934691 m/s,
      rangeRepo size: 4

2025-06-05T16:50:16.236Z,1749142216.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 214.241531 m,
      bearing: 337.031576 deg,
      lat: 36.906469 deg,
      lon: -122.115849 deg,
      deltaT: 7.564680 s,
      deltaX: -22.021774 m,
      approachRate: -2.911131 m/s,
      posRepo size: 4

2025-06-05T16:50:16.236Z,1749142216.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.24 m.
2025-06-05T16:50:16.243Z,1749142216.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.241531 m,
      nav range: 213.377686 m,
      bearing: 339.689571 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012736 deg/s,
      cmd heading: 326.765129 deg,
      new cmd heading: 326.784561 deg.

2025-06-05T16:50:16.244Z,1749142216.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703466 target range: 214.241531 and range: 216.00 m.
2025-06-05T16:50:16.316Z,1749142216.316 [DAT](INFO): DAT read: TxSync time:16:50:15.3538

2025-06-05T16:50:16.645Z,1749142216.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.24 m.
2025-06-05T16:50:16.656Z,1749142216.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.241531 m,
      nav range: 213.127365 m,
      bearing: 339.701948 deg,
      approach rate: -0.600037 m/s,
      LOS rate: 0.029702 deg/s,
      cmd heading: 326.784554 deg,
      new cmd heading: 326.821727 deg.

2025-06-05T16:50:16.657Z,1749142216.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704115 target range: 214.241531 and range: 216.00 m.
2025-06-05T16:50:16.958Z,1749142216.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:16.960Z,1749142216.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.24 m.
2025-06-05T16:50:16.963Z,1749142216.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.241531 m,
      nav range: 212.938126 m,
      bearing: 339.711432 deg,
      approach rate: -0.600453 m/s,
      LOS rate: 0.030118 deg/s,
      cmd heading: 326.821738 deg,
      new cmd heading: 326.850214 deg.

2025-06-05T16:50:16.964Z,1749142216.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704612 target range: 214.241531 and range: 216.00 m.
2025-06-05T16:50:17.071Z,1749142217.071 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:50:17.071Z,1749142217.071 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:50:17.071Z,1749142217.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:17.323Z,1749142217.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214964
2025-06-05T16:50:17.376Z,1749142217.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.24 m.
2025-06-05T16:50:17.384Z,1749142217.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.241531 m,
      nav range: 212.705536 m,
      bearing: 339.723343 deg,
      approach rate: -0.559162 m/s,
      LOS rate: 0.028667 deg/s,
      cmd heading: 326.850206 deg,
      new cmd heading: 326.885979 deg.

2025-06-05T16:50:17.385Z,1749142217.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705236 target range: 214.241531 and range: 216.00 m.
2025-06-05T16:50:17.577Z,1749142217.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468323
2025-06-05T16:50:17.827Z,1749142217.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.719312
2025-06-05T16:50:17.850Z,1749142217.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.24 m.
2025-06-05T16:50:17.859Z,1749142217.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.241531 m,
      nav range: 212.422882 m,
      bearing: 339.734608 deg,
      approach rate: -0.597203 m/s,
      LOS rate: 0.023832 deg/s,
      cmd heading: 326.885969 deg,
      new cmd heading: 326.919808 deg.

2025-06-05T16:50:17.860Z,1749142217.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705827 target range: 214.241531 and range: 216.00 m.
2025-06-05T16:50:18.081Z,1749142218.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972488
2025-06-05T16:50:18.189Z,1749142218.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.24 m.
2025-06-05T16:50:18.192Z,1749142218.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.241531 m,
      nav range: 212.206802 m,
      bearing: 339.743239 deg,
      approach rate: -0.636138 m/s,
      LOS rate: 0.025438 deg/s,
      cmd heading: 326.919819 deg,
      new cmd heading: 326.945741 deg.

2025-06-05T16:50:18.193Z,1749142218.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706280 target range: 214.241531 and range: 216.00 m.
2025-06-05T16:50:18.332Z,1749142218.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223353
2025-06-05T16:50:18.583Z,1749142218.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475028
2025-06-05T16:50:18.623Z,1749142218.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.24 m.
2025-06-05T16:50:18.626Z,1749142218.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.241531 m,
      nav range: 211.934097 m,
      bearing: 339.751502 deg,
      approach rate: -0.628689 m/s,
      LOS rate: 0.019072 deg/s,
      cmd heading: 326.945747 deg,
      new cmd heading: 326.970565 deg.

2025-06-05T16:50:18.648Z,1749142218.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706713 target range: 214.241531 and range: 216.00 m.
2025-06-05T16:50:18.835Z,1749142218.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726976
2025-06-05T16:50:18.981Z,1749142218.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:18.986Z,1749142218.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.24 m.
2025-06-05T16:50:19.016Z,1749142219.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.241531 m,
      nav range: 211.704376 m,
      bearing: 339.758468 deg,
      approach rate: -0.635280 m/s,
      LOS rate: 0.019286 deg/s,
      cmd heading: 326.970554 deg,
      new cmd heading: 326.991476 deg.

2025-06-05T16:50:19.017Z,1749142219.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707078 target range: 214.241531 and range: 216.00 m.
2025-06-05T16:50:19.089Z,1749142219.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980464
2025-06-05T16:50:19.339Z,1749142219.339 [DAT](INFO): DAT read: Rx Time:16:50:18.0433

2025-06-05T16:50:19.340Z,1749142219.340 [DAT](INFO): Rx dataTimestamp_ set to:1749142219.339294
2025-06-05T16:50:19.340Z,1749142219.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231992
2025-06-05T16:50:19.405Z,1749142219.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.24 m.
2025-06-05T16:50:19.433Z,1749142219.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.241531 m,
      nav range: 211.438065 m,
      bearing: 339.766487 deg,
      approach rate: -0.632689 m/s,
      LOS rate: 0.019074 deg/s,
      cmd heading: 326.991482 deg,
      new cmd heading: 327.015567 deg.

2025-06-05T16:50:19.442Z,1749142219.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707499 target range: 214.241531 and range: 216.00 m.
2025-06-05T16:50:19.592Z,1749142219.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484217
2025-06-05T16:50:19.845Z,1749142219.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.736665
2025-06-05T16:50:19.947Z,1749142219.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.24 m.
2025-06-05T16:50:19.960Z,1749142219.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.241531 m,
      nav range: 211.096893 m,
      bearing: 339.773096 deg,
      approach rate: -0.640410 m/s,
      LOS rate: 0.012427 deg/s,
      cmd heading: 327.015579 deg,
      new cmd heading: 327.035439 deg.

2025-06-05T16:50:19.961Z,1749142219.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707845 target range: 214.241531 and range: 216.00 m.
2025-06-05T16:50:20.104Z,1749142220.104 [DAT](INFO): DAT read: 16:50:18.0433 LVL= 24032, 32753, 25458, 32755, AGC= 64, IDX= 399,-0.42, 0.494,-1.326, 0.086,-0.295, PHS= 0.877,-0.984, 0.378, RAW= 135.0,  -3.3, CAL= 140.4, -13.2, ROT=   9.6,  13.2

2025-06-05T16:50:20.105Z,1749142220.105 [DAT](INFO): got valid direction response:
 16:50:18.0433 LVL= 24032, 32753, 25458, 32755, AGC= 64, IDX= 399,-0.42, 0.494,-1.326, 0.086,-0.295, PHS= 0.877,-0.984, 0.378, RAW= 135.0,  -3.3, CAL= 140.4, -13.2, ROT=   9.6,  13.2

2025-06-05T16:50:20.107Z,1749142220.107 [DAT](INFO): DAT read: Bearing   9.6,  13.2 (Local)

2025-06-05T16:50:20.108Z,1749142220.108 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.6,  13.2 (Local)

2025-06-05T16:50:20.115Z,1749142220.115 [DAT](INFO): DAT read: Range 10 to 50 : 213.4 m  (Round-trip  284.6 ms) speed  0.8 m/s

2025-06-05T16:50:20.116Z,1749142220.116 [DAT](INFO): DAT read: user:2416>

2025-06-05T16:50:20.117Z,1749142220.117 [DAT](INFO): DAT read: Tx time:16:50:19.1561

2025-06-05T16:50:20.117Z,1749142220.117 [DAT](INFO): Ping request sent.
2025-06-05T16:50:20.117Z,1749142220.117 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:50:20.118Z,1749142220.118 [DAT](INFO): DAT read: TxSync time:16:50:19.1553

2025-06-05T16:50:20.126Z,1749142220.126 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:50:20.127Z,1749142220.127 [DAT](INFO): direction in FSK: [0.959945,0.162363,-0.228351]
2025-06-05T16:50:20.128Z,1749142220.128 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:20.128Z,1749142220.128 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:20.144Z,1749142220.144 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:20.144Z,1749142220.144 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:20.353Z,1749142220.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 213.399994 m,
      deltaT: 4.031787 s,
      deltaX: -2.600006 m,
      approachRate: -0.644877 m/s,
      rangeRepo size: 4

2025-06-05T16:50:20.359Z,1749142220.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 211.661407 m,
      bearing: 336.219734 deg,
      lat: 36.906469 deg,
      lon: -122.115849 deg,
      deltaT: 4.031787 s,
      deltaX: -2.580124 m,
      approachRate: -0.639946 m/s,
      posRepo size: 4

2025-06-05T16:50:20.360Z,1749142220.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.66 m.
2025-06-05T16:50:20.367Z,1749142220.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.661407 m,
      nav range: 210.813354 m,
      bearing: 339.778587 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012427 deg/s,
      cmd heading: 327.035441 deg,
      new cmd heading: 327.050878 deg.

2025-06-05T16:50:20.368Z,1749142220.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708115 target range: 211.661407 and range: 213.40 m.
2025-06-05T16:50:20.736Z,1749142220.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.66 m.
2025-06-05T16:50:20.739Z,1749142220.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.661407 m,
      nav range: 210.532852 m,
      bearing: 339.781320 deg,
      approach rate: -0.730735 m/s,
      LOS rate: 0.007129 deg/s,
      cmd heading: 327.050877 deg,
      new cmd heading: 327.059086 deg.

2025-06-05T16:50:20.740Z,1749142220.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708258 target range: 211.661407 and range: 213.40 m.
2025-06-05T16:50:21.122Z,1749142221.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:21.124Z,1749142221.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.66 m.
2025-06-05T16:50:21.127Z,1749142221.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.661407 m,
      nav range: 210.262589 m,
      bearing: 339.783875 deg,
      approach rate: -0.696664 m/s,
      LOS rate: 0.006594 deg/s,
      cmd heading: 327.059073 deg,
      new cmd heading: 327.066747 deg.

2025-06-05T16:50:21.128Z,1749142221.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708392 target range: 211.661407 and range: 213.40 m.
2025-06-05T16:50:21.251Z,1749142221.251 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:50:21.355Z,1749142221.355 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:50:21.355Z,1749142221.355 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:50:21.355Z,1749142221.355 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:21.595Z,1749142221.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.66 m.
2025-06-05T16:50:21.607Z,1749142221.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489992
2025-06-05T16:50:21.616Z,1749142221.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.661407 m,
      nav range: 209.925583 m,
      bearing: 339.784663 deg,
      approach rate: -0.717192 m/s,
      LOS rate: 0.001681 deg/s,
      cmd heading: 327.066750 deg,
      new cmd heading: 327.069119 deg.

2025-06-05T16:50:21.617Z,1749142221.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708433 target range: 211.661407 and range: 213.40 m.
2025-06-05T16:50:21.860Z,1749142221.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743128
2025-06-05T16:50:21.921Z,1749142221.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.66 m.
2025-06-05T16:50:21.924Z,1749142221.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.661407 m,
      nav range: 209.693817 m,
      bearing: 339.785106 deg,
      approach rate: -0.708798 m/s,
      LOS rate: 0.001356 deg/s,
      cmd heading: 327.069127 deg,
      new cmd heading: 327.070457 deg.

2025-06-05T16:50:21.925Z,1749142221.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708457 target range: 211.661407 and range: 213.40 m.
2025-06-05T16:50:22.112Z,1749142222.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994759
2025-06-05T16:50:22.254Z,1749142222.254 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:50:22.317Z,1749142222.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.66 m.
2025-06-05T16:50:22.325Z,1749142222.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.661407 m,
      nav range: 209.407867 m,
      bearing: 339.785520 deg,
      approach rate: -0.721114 m/s,
      LOS rate: 0.001047 deg/s,
      cmd heading: 327.070466 deg,
      new cmd heading: 327.071711 deg.

2025-06-05T16:50:22.326Z,1749142222.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708478 target range: 211.661407 and range: 213.40 m.
2025-06-05T16:50:22.364Z,1749142222.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247084
2025-06-05T16:50:22.615Z,1749142222.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498152
2025-06-05T16:50:22.855Z,1749142222.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.66 m.
2025-06-05T16:50:22.857Z,1749142222.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.661407 m,
      nav range: 209.017181 m,
      bearing: 339.784718 deg,
      approach rate: -0.727136 m/s,
      LOS rate: -0.001497 deg/s,
      cmd heading: 327.071723 deg,
      new cmd heading: 327.069310 deg.

2025-06-05T16:50:22.859Z,1749142222.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708436 target range: 211.661407 and range: 213.40 m.
2025-06-05T16:50:22.867Z,1749142222.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750206
2025-06-05T16:50:23.122Z,1749142223.122 [DAT](INFO): DAT read: Rx Time:16:50:21.8428

2025-06-05T16:50:23.123Z,1749142223.123 [DAT](INFO): Rx dataTimestamp_ set to:1749142223.122369
2025-06-05T16:50:23.125Z,1749142223.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007560
2025-06-05T16:50:23.227Z,1749142223.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:23.229Z,1749142223.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.66 m.
2025-06-05T16:50:23.236Z,1749142223.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.661407 m,
      nav range: 208.755692 m,
      bearing: 339.784154 deg,
      approach rate: -0.699416 m/s,
      LOS rate: -0.001510 deg/s,
      cmd heading: 327.069318 deg,
      new cmd heading: 327.067625 deg.

2025-06-05T16:50:23.237Z,1749142223.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708407 target range: 211.661407 and range: 213.40 m.
2025-06-05T16:50:23.371Z,1749142223.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254450
2025-06-05T16:50:23.626Z,1749142223.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508178
2025-06-05T16:50:23.702Z,1749142223.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.66 m.
2025-06-05T16:50:23.705Z,1749142223.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.661407 m,
      nav range: 208.410873 m,
      bearing: 339.782810 deg,
      approach rate: -0.728887 m/s,
      LOS rate: -0.002846 deg/s,
      cmd heading: 327.067625 deg,
      new cmd heading: 327.063585 deg.

2025-06-05T16:50:23.706Z,1749142223.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708336 target range: 211.661407 and range: 213.40 m.
2025-06-05T16:50:23.883Z,1749142223.883 [DAT](INFO): DAT read: 16:50:21.8428 LVL= 24176, 32753, 23730, 32755, AGC= 68, IDX= 425, 0.12, 2.514, 0.656, 2.118, 1.700, PHS= 0.902,-0.998, 0.415, RAW= 135.7,  -3.8, CAL= 141.2, -13.7, ROT=   8.8,  13.7

2025-06-05T16:50:23.884Z,1749142223.884 [DAT](INFO): got valid direction response:
 16:50:21.8428 LVL= 24176, 32753, 23730, 32755, AGC= 68, IDX= 425, 0.12, 2.514, 0.656, 2.118, 1.700, PHS= 0.902,-0.998, 0.415, RAW= 135.7,  -3.8, CAL= 141.2, -13.7, ROT=   8.8,  13.7

2025-06-05T16:50:23.885Z,1749142223.885 [DAT](INFO): DAT read: Bearing   8.8,  13.7 (Local)

2025-06-05T16:50:23.885Z,1749142223.885 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.8,  13.7 (Local)

2025-06-05T16:50:23.889Z,1749142223.889 [DAT](INFO): DAT read: Range 10 to 50 : 211.8 m  (Round-trip  282.5 ms) speed  0.9 m/s

2025-06-05T16:50:23.890Z,1749142223.890 [DAT](INFO): DAT read: user:2417>

2025-06-05T16:50:23.891Z,1749142223.891 [DAT](INFO): DAT read: Tx time:16:50:22.9562

2025-06-05T16:50:23.891Z,1749142223.891 [DAT](INFO): Ping request sent.
2025-06-05T16:50:23.891Z,1749142223.891 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:50:23.892Z,1749142223.892 [DAT](INFO): DAT read: TxSync time:16:50:22.9554

2025-06-05T16:50:23.892Z,1749142223.892 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:50:23.893Z,1749142223.893 [DAT](INFO): direction in FSK: [0.960112,0.148633,-0.236838]
2025-06-05T16:50:23.893Z,1749142223.893 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:23.894Z,1749142223.894 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:23.926Z,1749142223.926 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:23.927Z,1749142223.927 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:24.095Z,1749142224.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 211.800003 m,
      deltaT: 3.778258 s,
      deltaX: -1.599991 m,
      approachRate: -0.423473 m/s,
      rangeRepo size: 4

2025-06-05T16:50:24.103Z,1749142224.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 210.070953 m,
      bearing: 335.998274 deg,
      lat: 36.906439 deg,
      lon: -122.115953 deg,
      deltaT: 3.778258 s,
      deltaX: -1.590454 m,
      approachRate: -0.420949 m/s,
      posRepo size: 4

2025-06-05T16:50:24.104Z,1749142224.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.07 m.
2025-06-05T16:50:24.111Z,1749142224.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 210.070953 m,
      nav range: 208.434891 m,
      bearing: 337.057305 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002846 deg/s,
      cmd heading: 327.063581 deg,
      new cmd heading: 327.060225 deg.

2025-06-05T16:50:24.112Z,1749142224.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708278 target range: 210.070953 and range: 211.80 m.
2025-06-05T16:50:24.419Z,1749142224.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.07 m.
2025-06-05T16:50:24.423Z,1749142224.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 210.070953 m,
      nav range: 208.178146 m,
      bearing: 337.052734 deg,
      approach rate: -0.790720 m/s,
      LOS rate: -0.014095 deg/s,
      cmd heading: 327.060221 deg,
      new cmd heading: 327.046491 deg.

2025-06-05T16:50:24.424Z,1749142224.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708038 target range: 210.070953 and range: 211.80 m.
2025-06-05T16:50:24.851Z,1749142224.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.07 m.
2025-06-05T16:50:24.853Z,1749142224.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 210.070953 m,
      nav range: 207.894699 m,
      bearing: 337.049648 deg,
      approach rate: -0.665300 m/s,
      LOS rate: -0.007255 deg/s,
      cmd heading: 327.046478 deg,
      new cmd heading: 327.037205 deg.

2025-06-05T16:50:24.859Z,1749142224.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707876 target range: 210.070953 and range: 211.80 m.
2025-06-05T16:50:25.224Z,1749142225.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.07 m.
2025-06-05T16:50:25.227Z,1749142225.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 210.070953 m,
      nav range: 207.623352 m,
      bearing: 337.046629 deg,
      approach rate: -0.717401 m/s,
      LOS rate: -0.007990 deg/s,
      cmd heading: 327.037217 deg,
      new cmd heading: 327.028150 deg.

2025-06-05T16:50:25.228Z,1749142225.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707718 target range: 210.070953 and range: 211.80 m.
2025-06-05T16:50:25.666Z,1749142225.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:25.668Z,1749142225.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.07 m.
2025-06-05T16:50:25.671Z,1749142225.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 210.070953 m,
      nav range: 207.327499 m,
      bearing: 337.045127 deg,
      approach rate: -0.665755 m/s,
      LOS rate: -0.003386 deg/s,
      cmd heading: 327.028146 deg,
      new cmd heading: 327.023631 deg.

2025-06-05T16:50:25.672Z,1749142225.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707639 target range: 210.070953 and range: 211.80 m.
2025-06-05T16:50:25.891Z,1749142225.891 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:50:25.891Z,1749142225.891 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:50:25.892Z,1749142225.892 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:26.027Z,1749142226.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.07 m.
2025-06-05T16:50:26.030Z,1749142226.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 210.070953 m,
      nav range: 207.085846 m,
      bearing: 337.043677 deg,
      approach rate: -0.673901 m/s,
      LOS rate: -0.004048 deg/s,
      cmd heading: 327.023638 deg,
      new cmd heading: 327.019283 deg.

2025-06-05T16:50:26.031Z,1749142226.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707563 target range: 210.070953 and range: 211.80 m.
2025-06-05T16:50:26.143Z,1749142226.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252063
2025-06-05T16:50:26.395Z,1749142226.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504026
2025-06-05T16:50:26.440Z,1749142226.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.07 m.
2025-06-05T16:50:26.442Z,1749142226.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 210.070953 m,
      nav range: 206.809952 m,
      bearing: 337.041904 deg,
      approach rate: -0.668337 m/s,
      LOS rate: -0.004301 deg/s,
      cmd heading: 327.019294 deg,
      new cmd heading: 327.013967 deg.

2025-06-05T16:50:26.443Z,1749142226.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707470 target range: 210.070953 and range: 211.80 m.
2025-06-05T16:50:26.648Z,1749142226.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756693
2025-06-05T16:50:26.857Z,1749142226.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.07 m.
2025-06-05T16:50:26.860Z,1749142226.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 210.070953 m,
      nav range: 206.544296 m,
      bearing: 337.043793 deg,
      approach rate: -0.636638 m/s,
      LOS rate: 0.004534 deg/s,
      cmd heading: 327.013967 deg,
      new cmd heading: 327.019643 deg.

2025-06-05T16:50:26.863Z,1749142226.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707570 target range: 210.070953 and range: 211.80 m.
2025-06-05T16:50:26.899Z,1749142226.899 [DAT](INFO): DAT read: Rx Time:16:50:25.6404

2025-06-05T16:50:26.900Z,1749142226.900 [DAT](INFO): Rx dataTimestamp_ set to:1749142226.899448
2025-06-05T16:50:26.900Z,1749142226.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009176
2025-06-05T16:50:27.151Z,1749142227.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260065
2025-06-05T16:50:27.247Z,1749142227.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.07 m.
2025-06-05T16:50:27.254Z,1749142227.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 210.070953 m,
      nav range: 206.302338 m,
      bearing: 337.045451 deg,
      approach rate: -0.621799 m/s,
      LOS rate: 0.004265 deg/s,
      cmd heading: 327.019649 deg,
      new cmd heading: 327.024628 deg.

2025-06-05T16:50:27.255Z,1749142227.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707656 target range: 210.070953 and range: 211.80 m.
2025-06-05T16:50:27.405Z,1749142227.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513338
2025-06-05T16:50:27.670Z,1749142227.670 [DAT](INFO): DAT read: 16:50:25.6404 LVL= 26064, 30193, 27890, 31779, AGC= 64, IDX= 146, 0.41,-0.287,-1.996,-0.613,-1.099, PHS= 0.900,-0.850, 0.484, RAW= 136.8,  -6.8, CAL= 142.7, -17.2, ROT=   7.3,  17.2

2025-06-05T16:50:27.671Z,1749142227.671 [DAT](INFO): got valid direction response:
 16:50:25.6404 LVL= 26064, 30193, 27890, 31779, AGC= 64, IDX= 146, 0.41,-0.287,-1.996,-0.613,-1.099, PHS= 0.900,-0.850, 0.484, RAW= 136.8,  -6.8, CAL= 142.7, -17.2, ROT=   7.3,  17.2

2025-06-05T16:50:27.672Z,1749142227.672 [DAT](INFO): DAT read: Bearing   7.3,  17.2 (Local)

2025-06-05T16:50:27.672Z,1749142227.672 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.3,  17.2 (Local)

2025-06-05T16:50:27.673Z,1749142227.673 [DAT](INFO): DAT read: Range 10 to 50 : 210.0 m  (Round-trip  280.0 ms) speed  0.4 m/s

2025-06-05T16:50:27.674Z,1749142227.674 [DAT](INFO): DAT read: user:2418>

2025-06-05T16:50:27.675Z,1749142227.675 [DAT](INFO): DAT read: Tx time:16:50:26.7546

2025-06-05T16:50:27.675Z,1749142227.675 [DAT](INFO): Ping request sent.
2025-06-05T16:50:27.675Z,1749142227.675 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:50:27.676Z,1749142227.676 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:50:27.677Z,1749142227.677 [DAT](INFO): direction in FSK: [0.947535,0.121382,-0.295708]
2025-06-05T16:50:27.677Z,1749142227.677 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:27.677Z,1749142227.677 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:27.682Z,1749142227.682 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:27.682Z,1749142227.682 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:27.832Z,1749142227.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 210.000000 m,
      deltaT: 3.785276 s,
      deltaX: -1.800003 m,
      approachRate: -0.475528 m/s,
      rangeRepo size: 4

2025-06-05T16:50:27.839Z,1749142227.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 208.284973 m,
      bearing: 335.248715 deg,
      lat: 36.906434 deg,
      lon: -122.115986 deg,
      deltaT: 3.785276 s,
      deltaX: -1.785980 m,
      approachRate: -0.471823 m/s,
      posRepo size: 4

2025-06-05T16:50:27.840Z,1749142227.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.28 m.
2025-06-05T16:50:27.847Z,1749142227.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.284973 m,
      nav range: 206.643402 m,
      bearing: 336.247473 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004265 deg/s,
      cmd heading: 327.024622 deg,
      new cmd heading: 327.032111 deg.

2025-06-05T16:50:27.848Z,1749142227.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707787 target range: 208.284973 and range: 210.00 m.
2025-06-05T16:50:27.913Z,1749142227.913 [DAT](INFO): DAT read: TxSync time:16:50:26.7539

2025-06-05T16:50:28.181Z,1749142228.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:28.187Z,1749142228.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.28 m.
2025-06-05T16:50:28.203Z,1749142228.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.284973 m,
      nav range: 206.379074 m,
      bearing: 336.250849 deg,
      approach rate: -0.742442 m/s,
      LOS rate: 0.009496 deg/s,
      cmd heading: 327.032108 deg,
      new cmd heading: 327.042250 deg.

2025-06-05T16:50:28.210Z,1749142228.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707964 target range: 208.284973 and range: 210.00 m.
2025-06-05T16:50:28.416Z,1749142228.416 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:50:28.416Z,1749142228.416 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:50:28.416Z,1749142228.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:28.599Z,1749142228.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.28 m.
2025-06-05T16:50:28.631Z,1749142228.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.284973 m,
      nav range: 206.136230 m,
      bearing: 336.253981 deg,
      approach rate: -0.615584 m/s,
      LOS rate: 0.007949 deg/s,
      cmd heading: 327.042244 deg,
      new cmd heading: 327.051652 deg.

2025-06-05T16:50:28.639Z,1749142228.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708128 target range: 208.284973 and range: 210.00 m.
2025-06-05T16:50:28.667Z,1749142228.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991799
2025-06-05T16:50:28.919Z,1749142228.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243710
2025-06-05T16:50:29.019Z,1749142229.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.28 m.
2025-06-05T16:50:29.026Z,1749142229.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.284973 m,
      nav range: 205.887253 m,
      bearing: 336.260312 deg,
      approach rate: -0.569329 m/s,
      LOS rate: 0.014493 deg/s,
      cmd heading: 327.051642 deg,
      new cmd heading: 327.070656 deg.

2025-06-05T16:50:29.027Z,1749142229.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708460 target range: 208.284973 and range: 210.00 m.
2025-06-05T16:50:29.171Z,1749142229.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495735
2025-06-05T16:50:29.366Z,1749142229.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.28 m.
2025-06-05T16:50:29.369Z,1749142229.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.284973 m,
      nav range: 205.669922 m,
      bearing: 336.265790 deg,
      approach rate: -0.626619 m/s,
      LOS rate: 0.015812 deg/s,
      cmd heading: 327.070657 deg,
      new cmd heading: 327.087109 deg.

2025-06-05T16:50:29.370Z,1749142229.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708747 target range: 208.284973 and range: 210.00 m.
2025-06-05T16:50:29.425Z,1749142229.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748836
2025-06-05T16:50:29.675Z,1749142229.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999664
2025-06-05T16:50:29.819Z,1749142229.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.28 m.
2025-06-05T16:50:29.822Z,1749142229.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.284973 m,
      nav range: 205.411591 m,
      bearing: 336.274642 deg,
      approach rate: -0.570060 m/s,
      LOS rate: 0.019559 deg/s,
      cmd heading: 327.087104 deg,
      new cmd heading: 327.113694 deg.

2025-06-05T16:50:29.823Z,1749142229.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709211 target range: 208.284973 and range: 210.00 m.
2025-06-05T16:50:29.927Z,1749142229.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251819
2025-06-05T16:50:30.175Z,1749142230.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.28 m.
2025-06-05T16:50:30.177Z,1749142230.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.284973 m,
      nav range: 205.195786 m,
      bearing: 336.282018 deg,
      approach rate: -0.607508 m/s,
      LOS rate: 0.020787 deg/s,
      cmd heading: 327.113687 deg,
      new cmd heading: 327.135839 deg.

2025-06-05T16:50:30.179Z,1749142230.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503913
2025-06-05T16:50:30.180Z,1749142230.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709598 target range: 208.284973 and range: 210.00 m.
2025-06-05T16:50:30.431Z,1749142230.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755974
2025-06-05T16:50:30.629Z,1749142230.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:30.639Z,1749142230.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.28 m.
2025-06-05T16:50:30.677Z,1749142230.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.284973 m,
      nav range: 204.934982 m,
      bearing: 336.290953 deg,
      approach rate: -0.563971 m/s,
      LOS rate: 0.019345 deg/s,
      cmd heading: 327.135844 deg,
      new cmd heading: 327.162683 deg.

2025-06-05T16:50:30.684Z,1749142230.684 [DAT](INFO): DAT read: Rx Time:16:50:29.4348

2025-06-05T16:50:30.685Z,1749142230.685 [DAT](INFO): Rx dataTimestamp_ set to:1749142230.684315
2025-06-05T16:50:30.685Z,1749142230.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009803
2025-06-05T16:50:30.691Z,1749142230.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710066 target range: 208.284973 and range: 210.00 m.
2025-06-05T16:50:30.935Z,1749142230.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260115
2025-06-05T16:50:31.015Z,1749142231.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.28 m.
2025-06-05T16:50:31.018Z,1749142231.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.284973 m,
      nav range: 204.694885 m,
      bearing: 336.300836 deg,
      approach rate: -0.634927 m/s,
      LOS rate: 0.026165 deg/s,
      cmd heading: 327.162673 deg,
      new cmd heading: 327.192356 deg.

2025-06-05T16:50:31.019Z,1749142231.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710584 target range: 208.284973 and range: 210.00 m.
2025-06-05T16:50:31.188Z,1749142231.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512801
2025-06-05T16:50:31.387Z,1749142231.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.28 m.
2025-06-05T16:50:31.389Z,1749142231.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.284973 m,
      nav range: 204.471985 m,
      bearing: 336.310009 deg,
      approach rate: -0.599675 m/s,
      LOS rate: 0.024707 deg/s,
      cmd heading: 327.192344 deg,
      new cmd heading: 327.219895 deg.

2025-06-05T16:50:31.391Z,1749142231.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711064 target range: 208.284973 and range: 210.00 m.
2025-06-05T16:50:31.449Z,1749142231.449 [DAT](INFO): DAT read: 16:50:29.4348 LVL= 27472, 32753, 24818, 32435, AGC= 67, IDX= 407,-0.11,-2.248, 2.255,-2.591,-3.036, PHS= 0.875,-0.946, 0.442, RAW= 136.8,  -4.6, CAL= 142.4, -14.5, ROT=   7.6,  14.5

2025-06-05T16:50:31.451Z,1749142231.451 [DAT](INFO): got valid direction response:
 16:50:29.4348 LVL= 27472, 32753, 24818, 32435, AGC= 67, IDX= 407,-0.11,-2.248, 2.255,-2.591,-3.036, PHS= 0.875,-0.946, 0.442, RAW= 136.8,  -4.6, CAL= 142.4, -14.5, ROT=   7.6,  14.5

2025-06-05T16:50:31.452Z,1749142231.452 [DAT](INFO): DAT read: Bearing   7.6,  14.5 (Local)

2025-06-05T16:50:31.452Z,1749142231.452 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.6,  14.5 (Local)

2025-06-05T16:50:31.454Z,1749142231.454 [DAT](INFO): DAT read: Range 10 to 50 : 207.0 m  (Round-trip  276.0 ms) speed  0.6 m/s

2025-06-05T16:50:31.469Z,1749142231.469 [DAT](INFO): DAT read: user:2419>

2025-06-05T16:50:31.476Z,1749142231.476 [DAT](INFO): DAT read: Tx time:16:50:30.5546

2025-06-05T16:50:31.477Z,1749142231.477 [DAT](INFO): Ping request sent.
2025-06-05T16:50:31.477Z,1749142231.477 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:50:31.495Z,1749142231.495 [DAT](INFO): DAT read: TxSync time:16:50:30.5539

2025-06-05T16:50:31.495Z,1749142231.495 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:50:31.497Z,1749142231.497 [DAT](INFO): direction in FSK: [0.959643,0.128044,-0.250380]
2025-06-05T16:50:31.498Z,1749142231.498 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:31.499Z,1749142231.499 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:31.502Z,1749142231.502 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:31.515Z,1749142231.515 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:31.911Z,1749142231.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 207.000000 m,
      deltaT: 3.779548 s,
      deltaX: -3.000000 m,
      approachRate: -0.793746 m/s,
      rangeRepo size: 4

2025-06-05T16:50:31.919Z,1749142231.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 205.304749 m,
      bearing: 335.502465 deg,
      lat: 36.906427 deg,
      lon: -122.115998 deg,
      deltaT: 3.779548 s,
      deltaX: -2.980225 m,
      approachRate: -0.788513 m/s,
      posRepo size: 4

2025-06-05T16:50:31.920Z,1749142231.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.30 m.
2025-06-05T16:50:31.927Z,1749142231.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.304749 m,
      nav range: 203.891556 m,
      bearing: 335.962269 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024707 deg/s,
      cmd heading: 327.219883 deg,
      new cmd heading: 327.258379 deg.

2025-06-05T16:50:31.928Z,1749142231.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711736 target range: 205.304749 and range: 207.00 m.
2025-06-05T16:50:32.252Z,1749142232.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.30 m.
2025-06-05T16:50:32.255Z,1749142232.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.304749 m,
      nav range: 203.657761 m,
      bearing: 335.971069 deg,
      approach rate: -0.676442 m/s,
      LOS rate: 0.025491 deg/s,
      cmd heading: 327.258378 deg,
      new cmd heading: 327.284809 deg.

2025-06-05T16:50:32.257Z,1749142232.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712197 target range: 205.304749 and range: 207.00 m.
2025-06-05T16:50:32.719Z,1749142232.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:32.721Z,1749142232.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.30 m.
2025-06-05T16:50:32.728Z,1749142232.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.304749 m,
      nav range: 203.385574 m,
      bearing: 335.981214 deg,
      approach rate: -0.579550 m/s,
      LOS rate: 0.021630 deg/s,
      cmd heading: 327.284797 deg,
      new cmd heading: 327.315272 deg.

2025-06-05T16:50:32.735Z,1749142232.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712729 target range: 205.304749 and range: 207.00 m.
2025-06-05T16:50:32.951Z,1749142232.951 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:50:32.951Z,1749142232.951 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:50:32.951Z,1749142232.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:33.099Z,1749142233.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.30 m.
2025-06-05T16:50:33.102Z,1749142233.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.304749 m,
      nav range: 203.128235 m,
      bearing: 335.988290 deg,
      approach rate: -0.684931 m/s,
      LOS rate: 0.018858 deg/s,
      cmd heading: 327.315260 deg,
      new cmd heading: 327.336515 deg.

2025-06-05T16:50:33.119Z,1749142233.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713100 target range: 205.304749 and range: 207.00 m.
2025-06-05T16:50:33.203Z,1749142233.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726267
2025-06-05T16:50:33.455Z,1749142233.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978203
2025-06-05T16:50:33.488Z,1749142233.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.30 m.
2025-06-05T16:50:33.491Z,1749142233.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.304749 m,
      nav range: 202.878510 m,
      bearing: 335.995051 deg,
      approach rate: -0.638447 m/s,
      LOS rate: 0.017307 deg/s,
      cmd heading: 327.336515 deg,
      new cmd heading: 327.356824 deg.

2025-06-05T16:50:33.492Z,1749142233.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713454 target range: 205.304749 and range: 207.00 m.
2025-06-05T16:50:33.707Z,1749142233.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230451
2025-06-05T16:50:33.898Z,1749142233.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.30 m.
2025-06-05T16:50:33.901Z,1749142233.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.304749 m,
      nav range: 202.607742 m,
      bearing: 335.998564 deg,
      approach rate: -0.660769 m/s,
      LOS rate: 0.008584 deg/s,
      cmd heading: 327.356815 deg,
      new cmd heading: 327.367367 deg.

2025-06-05T16:50:33.902Z,1749142233.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713638 target range: 205.304749 and range: 207.00 m.
2025-06-05T16:50:33.961Z,1749142233.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483721
2025-06-05T16:50:34.211Z,1749142234.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734065
2025-06-05T16:50:34.279Z,1749142234.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.30 m.
2025-06-05T16:50:34.282Z,1749142234.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.304749 m,
      nav range: 202.354446 m,
      bearing: 336.001879 deg,
      approach rate: -0.664487 m/s,
      LOS rate: 0.008707 deg/s,
      cmd heading: 327.367361 deg,
      new cmd heading: 327.377318 deg.

2025-06-05T16:50:34.283Z,1749142234.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713812 target range: 205.304749 and range: 207.00 m.
2025-06-05T16:50:34.466Z,1749142234.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989469
2025-06-05T16:50:34.718Z,1749142234.718 [DAT](INFO): DAT read: Rx Time:16:50:33.2319

2025-06-05T16:50:34.720Z,1749142234.720 [DAT](INFO): Rx dataTimestamp_ set to:1749142234.718651
2025-06-05T16:50:34.721Z,1749142234.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244004
2025-06-05T16:50:34.751Z,1749142234.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:34.753Z,1749142234.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.30 m.
2025-06-05T16:50:34.768Z,1749142234.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.304749 m,
      nav range: 202.049072 m,
      bearing: 336.005896 deg,
      approach rate: -0.644925 m/s,
      LOS rate: 0.008496 deg/s,
      cmd heading: 327.377305 deg,
      new cmd heading: 327.389374 deg.

2025-06-05T16:50:34.769Z,1749142234.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714023 target range: 205.304749 and range: 207.00 m.
2025-06-05T16:50:34.967Z,1749142234.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490034
2025-06-05T16:50:35.115Z,1749142235.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.30 m.
2025-06-05T16:50:35.118Z,1749142235.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.304749 m,
      nav range: 201.799500 m,
      bearing: 336.005178 deg,
      approach rate: -0.690188 m/s,
      LOS rate: -0.001987 deg/s,
      cmd heading: 327.389381 deg,
      new cmd heading: 327.387225 deg.

2025-06-05T16:50:35.119Z,1749142235.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713985 target range: 205.304749 and range: 207.00 m.
2025-06-05T16:50:35.225Z,1749142235.225 [DAT](INFO): DAT read: 16:50:33.2319 LVL= 25328, 28641, 23618, 32723, AGC= 67, IDX= 408,-0.30,-0.309,-1.939,-0.613,-1.053, PHS= 0.832,-0.839, 0.437, RAW= 136.9,  -5.7, CAL= 142.6, -15.9, ROT=   7.4,  15.9

2025-06-05T16:50:35.227Z,1749142235.227 [DAT](INFO): got valid direction response:
 16:50:33.2319 LVL= 25328, 28641, 23618, 32723, AGC= 67, IDX= 408,-0.30,-0.309,-1.939,-0.613,-1.053, PHS= 0.832,-0.839, 0.437, RAW= 136.9,  -5.7, CAL= 142.6, -15.9, ROT=   7.4,  15.9

2025-06-05T16:50:35.228Z,1749142235.228 [DAT](INFO): DAT read: Bearing   7.4,  15.9 (Local)

2025-06-05T16:50:35.229Z,1749142235.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.4,  15.9 (Local)

2025-06-05T16:50:35.230Z,1749142235.230 [DAT](INFO): DAT read: Range 10 to 50 : 204.7 m  (Round-trip  273.0 ms) speed  0.6 m/s

2025-06-05T16:50:35.231Z,1749142235.231 [DAT](INFO): DAT read: user:2420>

2025-06-05T16:50:35.231Z,1749142235.231 [DAT](INFO): DAT read: Tx time:16:50:34.3547

2025-06-05T16:50:35.232Z,1749142235.232 [DAT](INFO): Ping request sent.
2025-06-05T16:50:35.232Z,1749142235.232 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:50:35.232Z,1749142235.232 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:50:35.233Z,1749142235.233 [DAT](INFO): direction in FSK: [0.953731,0.123868,-0.273959]
2025-06-05T16:50:35.233Z,1749142235.233 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:35.234Z,1749142235.234 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:35.245Z,1749142235.245 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:35.245Z,1749142235.245 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:35.471Z,1749142235.471 [DAT](INFO): DAT read: TxSync time:16:50:34.3540

2025-06-05T16:50:35.512Z,1749142235.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 204.699997 m,
      deltaT: 3.779788 s,
      deltaX: -2.300003 m,
      approachRate: -0.608501 m/s,
      rangeRepo size: 4

2025-06-05T16:50:35.520Z,1749142235.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 203.023010 m,
      bearing: 335.446695 deg,
      lat: 36.906427 deg,
      lon: -122.116018 deg,
      deltaT: 3.779788 s,
      deltaX: -2.281738 m,
      approachRate: -0.603668 m/s,
      posRepo size: 4

2025-06-05T16:50:35.521Z,1749142235.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:35.535Z,1749142235.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 202.224426 m,
      bearing: 335.539714 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001987 deg/s,
      cmd heading: 327.387223 deg,
      new cmd heading: 327.384858 deg.

2025-06-05T16:50:35.537Z,1749142235.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713943 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:35.906Z,1749142235.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:35.909Z,1749142235.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 201.935715 m,
      bearing: 335.533676 deg,
      approach rate: -0.731254 m/s,
      LOS rate: -0.015315 deg/s,
      cmd heading: 327.384846 deg,
      new cmd heading: 327.366706 deg.

2025-06-05T16:50:35.910Z,1749142235.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713627 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:36.372Z,1749142236.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:36.375Z,1749142236.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 201.612411 m,
      bearing: 335.526828 deg,
      approach rate: -0.693412 m/s,
      LOS rate: -0.014710 deg/s,
      cmd heading: 327.366705 deg,
      new cmd heading: 327.346129 deg.

2025-06-05T16:50:36.376Z,1749142236.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713268 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:36.843Z,1749142236.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:36.845Z,1749142236.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:36.849Z,1749142236.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 201.277969 m,
      bearing: 335.514222 deg,
      approach rate: -0.707085 m/s,
      LOS rate: -0.026696 deg/s,
      cmd heading: 327.346132 deg,
      new cmd heading: 327.308252 deg.

2025-06-05T16:50:36.851Z,1749142236.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712607 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:36.983Z,1749142236.983 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:50:36.983Z,1749142236.983 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:50:36.983Z,1749142236.983 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:37.160Z,1749142237.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:37.183Z,1749142237.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 201.055664 m,
      bearing: 335.505719 deg,
      approach rate: -0.705794 m/s,
      LOS rate: -0.027025 deg/s,
      cmd heading: 327.308266 deg,
      new cmd heading: 327.282729 deg.

2025-06-05T16:50:37.184Z,1749142237.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712161 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:37.237Z,1749142237.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004905
2025-06-05T16:50:37.487Z,1749142237.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255323
2025-06-05T16:50:37.589Z,1749142237.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:37.597Z,1749142237.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 200.768387 m,
      bearing: 335.494623 deg,
      approach rate: -0.670075 m/s,
      LOS rate: -0.025920 deg/s,
      cmd heading: 327.282721 deg,
      new cmd heading: 327.249383 deg.

2025-06-05T16:50:37.602Z,1749142237.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711579 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:37.746Z,1749142237.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513253
2025-06-05T16:50:37.974Z,1749142237.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:37.977Z,1749142237.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 200.480988 m,
      bearing: 335.483240 deg,
      approach rate: -0.753392 m/s,
      LOS rate: -0.029881 deg/s,
      cmd heading: 327.249390 deg,
      new cmd heading: 327.215193 deg.

2025-06-05T16:50:37.978Z,1749142237.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710982 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:37.991Z,1749142237.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759152
2025-06-05T16:50:38.243Z,1749142238.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011527
2025-06-05T16:50:38.347Z,1749142238.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:38.350Z,1749142238.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 200.209167 m,
      bearing: 335.472426 deg,
      approach rate: -0.720999 m/s,
      LOS rate: -0.028725 deg/s,
      cmd heading: 327.215184 deg,
      new cmd heading: 327.182696 deg.

2025-06-05T16:50:38.376Z,1749142238.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710415 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:38.496Z,1749142238.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264114
2025-06-05T16:50:38.750Z,1749142238.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517871
2025-06-05T16:50:38.826Z,1749142238.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:38.839Z,1749142238.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 199.875595 m,
      bearing: 335.459103 deg,
      approach rate: -0.702525 m/s,
      LOS rate: -0.028105 deg/s,
      cmd heading: 327.182700 deg,
      new cmd heading: 327.142665 deg.

2025-06-05T16:50:38.841Z,1749142238.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709717 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:38.000Z,1749142239.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767806
2025-06-05T16:50:39.178Z,1749142239.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:39.183Z,1749142239.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:39.185Z,1749142239.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 199.630630 m,
      bearing: 335.448841 deg,
      approach rate: -0.680042 m/s,
      LOS rate: -0.028523 deg/s,
      cmd heading: 327.142675 deg,
      new cmd heading: 327.111851 deg.

2025-06-05T16:50:39.187Z,1749142239.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709179 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:39.251Z,1749142239.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019512
2025-06-05T16:50:39.503Z,1749142239.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271110
2025-06-05T16:50:39.639Z,1749142239.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:39.644Z,1749142239.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 199.327713 m,
      bearing: 335.436124 deg,
      approach rate: -0.662746 m/s,
      LOS rate: -0.027865 deg/s,
      cmd heading: 327.111857 deg,
      new cmd heading: 327.073649 deg.

2025-06-05T16:50:39.645Z,1749142239.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708512 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:39.760Z,1749142239.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526914
2025-06-05T16:50:40.007Z,1749142240.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775163
2025-06-05T16:50:40.084Z,1749142240.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:40.087Z,1749142240.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 199.019943 m,
      bearing: 335.425665 deg,
      approach rate: -0.692592 m/s,
      LOS rate: -0.023573 deg/s,
      cmd heading: 327.073635 deg,
      new cmd heading: 327.042209 deg.

2025-06-05T16:50:40.088Z,1749142240.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707963 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:40.261Z,1749142240.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028890
2025-06-05T16:50:40.511Z,1749142240.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279246
2025-06-05T16:50:40.574Z,1749142240.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:40.577Z,1749142240.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 198.694534 m,
      bearing: 335.414576 deg,
      approach rate: -0.668860 m/s,
      LOS rate: -0.022830 deg/s,
      cmd heading: 327.042216 deg,
      new cmd heading: 327.008895 deg.

2025-06-05T16:50:40.582Z,1749142240.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707382 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:40.768Z,1749142240.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.535033
2025-06-05T16:50:41.015Z,1749142241.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783573
2025-06-05T16:50:41.038Z,1749142241.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:41.041Z,1749142241.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 198.387085 m,
      bearing: 335.407070 deg,
      approach rate: -0.660494 m/s,
      LOS rate: -0.016150 deg/s,
      cmd heading: 327.008885 deg,
      new cmd heading: 326.986333 deg.

2025-06-05T16:50:41.043Z,1749142241.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706988 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:41.267Z,1749142241.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035282
2025-06-05T16:50:41.401Z,1749142241.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:41.403Z,1749142241.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:41.407Z,1749142241.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 198.126633 m,
      bearing: 335.400691 deg,
      approach rate: -0.709042 m/s,
      LOS rate: -0.017389 deg/s,
      cmd heading: 326.986345 deg,
      new cmd heading: 326.967183 deg.

2025-06-05T16:50:41.409Z,1749142241.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706654 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:41.520Z,1749142241.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287964
2025-06-05T16:50:41.774Z,1749142241.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541248
2025-06-05T16:50:41.885Z,1749142241.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:41.888Z,1749142241.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 197.812225 m,
      bearing: 335.397150 deg,
      approach rate: -0.652944 m/s,
      LOS rate: -0.007366 deg/s,
      cmd heading: 326.967193 deg,
      new cmd heading: 326.956552 deg.

2025-06-05T16:50:41.889Z,1749142241.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706469 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:42.024Z,1749142242.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791692
2025-06-05T16:50:42.208Z,1749142242.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:42.211Z,1749142242.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 197.598877 m,
      bearing: 335.394757 deg,
      approach rate: -0.659649 m/s,
      LOS rate: -0.007407 deg/s,
      cmd heading: 326.956566 deg,
      new cmd heading: 326.949379 deg.

2025-06-05T16:50:42.212Z,1749142242.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706343 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:42.275Z,1749142242.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043559
2025-06-05T16:50:42.528Z,1749142242.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.295748
2025-06-05T16:50:42.604Z,1749142242.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:42.619Z,1749142242.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 197.340225 m,
      bearing: 335.391885 deg,
      approach rate: -0.653555 m/s,
      LOS rate: -0.007265 deg/s,
      cmd heading: 326.949380 deg,
      new cmd heading: 326.940754 deg.

2025-06-05T16:50:42.620Z,1749142242.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706192 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:42.780Z,1749142242.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.547617
2025-06-05T16:50:43.004Z,1749142243.004 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.78,  87.10,  82.52,  98.81
2025-06-05T16:50:43.022Z,1749142243.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:43.024Z,1749142243.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 197.066116 m,
      bearing: 335.388845 deg,
      approach rate: -0.655838 m/s,
      LOS rate: -0.007284 deg/s,
      cmd heading: 326.940747 deg,
      new cmd heading: 326.931614 deg.

2025-06-05T16:50:43.025Z,1749142243.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706033 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:43.032Z,1749142243.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.799791
2025-06-05T16:50:43.283Z,1749142243.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051138
2025-06-05T16:50:43.421Z,1749142243.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:43.424Z,1749142243.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:43.426Z,1749142243.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 196.802017 m,
      bearing: 335.385943 deg,
      approach rate: -0.657061 m/s,
      LOS rate: -0.007229 deg/s,
      cmd heading: 326.931622 deg,
      new cmd heading: 326.922905 deg.

2025-06-05T16:50:43.427Z,1749142243.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705881 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:43.536Z,1749142243.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.304193
2025-06-05T16:50:43.789Z,1749142243.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556992
2025-06-05T16:50:43.903Z,1749142243.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:43.905Z,1749142243.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 196.499588 m,
      bearing: 335.389098 deg,
      approach rate: -0.631748 m/s,
      LOS rate: 0.006600 deg/s,
      cmd heading: 326.922907 deg,
      new cmd heading: 326.932385 deg.

2025-06-05T16:50:43.907Z,1749142243.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706047 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:44.039Z,1749142244.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.807169
2025-06-05T16:50:44.221Z,1749142244.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:44.224Z,1749142244.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 196.297989 m,
      bearing: 335.391227 deg,
      approach rate: -0.632414 m/s,
      LOS rate: 0.006687 deg/s,
      cmd heading: 326.932387 deg,
      new cmd heading: 326.938782 deg.

2025-06-05T16:50:44.225Z,1749142244.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706158 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:44.293Z,1749142244.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060250
2025-06-05T16:50:44.544Z,1749142244.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.311728
2025-06-05T16:50:44.668Z,1749142244.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:44.674Z,1749142244.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 196.035019 m,
      bearing: 335.394041 deg,
      approach rate: -0.588932 m/s,
      LOS rate: 0.006309 deg/s,
      cmd heading: 326.938780 deg,
      new cmd heading: 326.947231 deg.

2025-06-05T16:50:44.675Z,1749142244.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706306 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:44.795Z,1749142244.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.563157
2025-06-05T16:50:45.049Z,1749142245.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816781
2025-06-05T16:50:45.087Z,1749142245.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:45.089Z,1749142245.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 195.764023 m,
      bearing: 335.389532 deg,
      approach rate: -0.679669 m/s,
      LOS rate: -0.011325 deg/s,
      cmd heading: 326.947222 deg,
      new cmd heading: 326.933675 deg.

2025-06-05T16:50:45.095Z,1749142245.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706069 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:45.299Z,1749142245.299 [DAT](INFO): Reached modem response timeout
2025-06-05T16:50:45.299Z,1749142245.299 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:50:45.300Z,1749142245.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:45.475Z,1749142245.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:45.477Z,1749142245.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:45.484Z,1749142245.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 195.527176 m,
      bearing: 335.385644 deg,
      approach rate: -0.576508 m/s,
      LOS rate: -0.009475 deg/s,
      cmd heading: 326.933671 deg,
      new cmd heading: 326.921993 deg.

2025-06-05T16:50:45.485Z,1749142245.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705865 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:45.552Z,1749142245.552 [DAT](INFO): Reached modem response timeout
2025-06-05T16:50:45.553Z,1749142245.553 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:50:45.553Z,1749142245.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:45.804Z,1749142245.804 [DAT](INFO): Reached modem response timeout
2025-06-05T16:50:45.804Z,1749142245.804 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:50:45.804Z,1749142245.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:45.936Z,1749142245.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:45.939Z,1749142245.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 195.215179 m,
      bearing: 335.392512 deg,
      approach rate: -0.679732 m/s,
      LOS rate: 0.014988 deg/s,
      cmd heading: 326.922005 deg,
      new cmd heading: 326.942643 deg.

2025-06-05T16:50:45.940Z,1749142245.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706225 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:46.055Z,1749142246.055 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:50:46.056Z,1749142246.056 [DAT](INFO): response not received
2025-06-05T16:50:46.056Z,1749142246.056 [DAT](INFO): DAT read: user:2421>

2025-06-05T16:50:46.057Z,1749142246.057 [DAT](INFO): DAT read: Tx time:16:50:45.3048

2025-06-05T16:50:46.057Z,1749142246.057 [DAT](INFO): Ping request sent.
2025-06-05T16:50:46.057Z,1749142246.057 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:50:46.057Z,1749142246.057 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:46.058Z,1749142246.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-06-05T16:50:46.260Z,1749142246.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:46.264Z,1749142246.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 195.010330 m,
      bearing: 335.397033 deg,
      approach rate: -0.633375 m/s,
      LOS rate: 0.013994 deg/s,
      cmd heading: 326.942632 deg,
      new cmd heading: 326.956210 deg.

2025-06-05T16:50:46.266Z,1749142246.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706462 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:46.308Z,1749142246.308 [DAT](INFO): DAT read: TxSync time:16:50:45.3041

2025-06-05T16:50:46.308Z,1749142246.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251212
2025-06-05T16:50:46.559Z,1749142246.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502004
2025-06-05T16:50:46.644Z,1749142246.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:46.648Z,1749142246.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 194.768341 m,
      bearing: 335.402569 deg,
      approach rate: -0.630254 m/s,
      LOS rate: 0.014436 deg/s,
      cmd heading: 326.956211 deg,
      new cmd heading: 326.972839 deg.

2025-06-05T16:50:46.649Z,1749142246.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706753 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:46.811Z,1749142246.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754177
2025-06-05T16:50:47.064Z,1749142247.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007021
2025-06-05T16:50:47.100Z,1749142247.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:47.104Z,1749142247.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 194.492462 m,
      bearing: 335.409609 deg,
      approach rate: -0.603929 m/s,
      LOS rate: 0.015433 deg/s,
      cmd heading: 326.972849 deg,
      new cmd heading: 326.993999 deg.

2025-06-05T16:50:47.105Z,1749142247.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707122 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:47.315Z,1749142247.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258289
2025-06-05T16:50:47.479Z,1749142247.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:47.492Z,1749142247.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 194.275528 m,
      bearing: 335.415111 deg,
      approach rate: -0.572770 m/s,
      LOS rate: 0.014544 deg/s,
      cmd heading: 326.993995 deg,
      new cmd heading: 327.010521 deg.

2025-06-05T16:50:47.494Z,1749142247.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707410 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:47.568Z,1749142247.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510924
2025-06-05T16:50:47.819Z,1749142247.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761962
2025-06-05T16:50:47.936Z,1749142247.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:47.938Z,1749142247.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:47.945Z,1749142247.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 193.989761 m,
      bearing: 335.422268 deg,
      approach rate: -0.623233 m/s,
      LOS rate: 0.015630 deg/s,
      cmd heading: 327.010524 deg,
      new cmd heading: 327.032024 deg.

2025-06-05T16:50:47.950Z,1749142247.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707786 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:48.071Z,1749142248.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014341
2025-06-05T16:50:48.290Z,1749142248.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:48.293Z,1749142248.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 193.756195 m,
      bearing: 335.426311 deg,
      approach rate: -0.663233 m/s,
      LOS rate: 0.011496 deg/s,
      cmd heading: 327.032026 deg,
      new cmd heading: 327.044171 deg.

2025-06-05T16:50:48.294Z,1749142248.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707998 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:48.323Z,1749142248.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266135
2025-06-05T16:50:48.575Z,1749142248.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518018
2025-06-05T16:50:48.685Z,1749142248.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:48.688Z,1749142248.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 193.501572 m,
      bearing: 335.430730 deg,
      approach rate: -0.644877 m/s,
      LOS rate: 0.011207 deg/s,
      cmd heading: 327.044183 deg,
      new cmd heading: 327.057458 deg.

2025-06-05T16:50:48.689Z,1749142248.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708230 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:48.827Z,1749142248.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770016
2025-06-05T16:50:49.087Z,1749142249.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030358
2025-06-05T16:50:49.110Z,1749142249.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:49.125Z,1749142249.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 193.213654 m,
      bearing: 335.433980 deg,
      approach rate: -0.677469 m/s,
      LOS rate: 0.007659 deg/s,
      cmd heading: 327.057461 deg,
      new cmd heading: 327.067226 deg.

2025-06-05T16:50:49.132Z,1749142249.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708400 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:49.339Z,1749142249.339 [DAT](INFO): DAT read: Rx Time:16:50:47.9716

2025-06-05T16:50:49.340Z,1749142249.340 [DAT](INFO): Rx dataTimestamp_ set to:1749142249.339234
2025-06-05T16:50:49.340Z,1749142249.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283003
2025-06-05T16:50:49.591Z,1749142249.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533999
2025-06-05T16:50:49.600Z,1749142249.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.02 m.
2025-06-05T16:50:49.602Z,1749142249.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.023010 m,
      nav range: 192.870300 m,
      bearing: 335.437920 deg,
      approach rate: -0.700845 m/s,
      LOS rate: 0.008057 deg/s,
      cmd heading: 327.067215 deg,
      new cmd heading: 327.079056 deg.

2025-06-05T16:50:49.604Z,1749142249.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708606 target range: 203.023010 and range: 204.70 m.
2025-06-05T16:50:49.851Z,1749142249.851 [DAT](INFO): DAT read: 16:50:47.9716 LVL= 27872, 29665, 22722, 27411, AGC= 66, IDX= 302,-0.27, 2.206, 0.666, 1.814, 1.468, PHS= 0.826,-0.755, 0.343, RAW= 132.6,  -5.9, CAL= 138.0, -17.0, ROT=  12.0,  17.0

2025-06-05T16:50:49.852Z,1749142249.852 [DAT](INFO): got valid direction response:
 16:50:47.9716 LVL= 27872, 29665, 22722, 27411, AGC= 66, IDX= 302,-0.27, 2.206, 0.666, 1.814, 1.468, PHS= 0.826,-0.755, 0.343, RAW= 132.6,  -5.9, CAL= 138.0, -17.0, ROT=  12.0,  17.0

2025-06-05T16:50:49.853Z,1749142249.853 [DAT](INFO): DAT read: Bearing  12.0,  17.0 (Local)

2025-06-05T16:50:49.853Z,1749142249.853 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.0,  17.0 (Local)

2025-06-05T16:50:49.855Z,1749142249.855 [DAT](INFO): DAT read: Range 10 to 50 : 196.9 m  (Round-trip  262.6 ms) speed  0.5 m/s

2025-06-05T16:50:49.856Z,1749142249.856 [DAT](INFO): DAT read: user:2422>

2025-06-05T16:50:49.857Z,1749142249.857 [DAT](INFO): DAT read: Tx time:16:50:49.0548

2025-06-05T16:50:49.858Z,1749142249.858 [DAT](INFO): Ping request sent.
2025-06-05T16:50:49.862Z,1749142249.862 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:50:49.863Z,1749142249.863 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:50:49.865Z,1749142249.865 [DAT](INFO): direction in FSK: [0.935407,0.198827,-0.292372]
2025-06-05T16:50:49.865Z,1749142249.865 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:49.865Z,1749142249.865 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:49.871Z,1749142249.871 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:49.872Z,1749142249.872 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:50.095Z,1749142250.095 [DAT](INFO): DAT read: TxSync time:16:50:49.0541

2025-06-05T16:50:50.159Z,1749142250.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 196.899994 m,
      deltaT: 14.623758 s,
      deltaX: -7.800003 m,
      approachRate: -0.533379 m/s,
      rangeRepo size: 4

2025-06-05T16:50:50.161Z,1749142250.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 195.276520 m,
      bearing: 340.072096 deg,
      lat: 36.906427 deg,
      lon: -122.116018 deg,
      deltaT: 14.623758 s,
      deltaX: -7.746490 m,
      approachRate: -0.529720 m/s,
      posRepo size: 4

2025-06-05T16:50:50.166Z,1749142250.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.28 m.
2025-06-05T16:50:50.169Z,1749142250.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.276520 m,
      nav range: 192.463745 m,
      bearing: 335.437921 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008057 deg/s,
      cmd heading: 327.079045 deg,
      new cmd heading: 327.092447 deg.

2025-06-05T16:50:50.174Z,1749142250.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708840 target range: 195.276520 and range: 196.90 m.
2025-06-05T16:50:50.499Z,1749142250.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:50.501Z,1749142250.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.28 m.
2025-06-05T16:50:50.504Z,1749142250.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.276520 m,
      nav range: 192.203888 m,
      bearing: 335.438118 deg,
      approach rate: -0.748456 m/s,
      LOS rate: 0.000566 deg/s,
      cmd heading: 327.092459 deg,
      new cmd heading: 327.093048 deg.

2025-06-05T16:50:50.505Z,1749142250.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708851 target range: 195.276520 and range: 196.90 m.
2025-06-05T16:50:50.600Z,1749142250.600 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:50:50.600Z,1749142250.600 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:50:50.600Z,1749142250.600 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:50.851Z,1749142250.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993461
2025-06-05T16:50:50.881Z,1749142250.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.28 m.
2025-06-05T16:50:50.885Z,1749142250.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.276520 m,
      nav range: 191.925613 m,
      bearing: 335.438521 deg,
      approach rate: -0.732677 m/s,
      LOS rate: 0.001063 deg/s,
      cmd heading: 327.093060 deg,
      new cmd heading: 327.094271 deg.

2025-06-05T16:50:50.886Z,1749142250.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708872 target range: 195.276520 and range: 196.90 m.
2025-06-05T16:50:51.103Z,1749142251.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245400
2025-06-05T16:50:51.317Z,1749142251.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.28 m.
2025-06-05T16:50:51.320Z,1749142251.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.276520 m,
      nav range: 191.638412 m,
      bearing: 335.434538 deg,
      approach rate: -0.659575 m/s,
      LOS rate: -0.009160 deg/s,
      cmd heading: 327.094262 deg,
      new cmd heading: 327.082297 deg.

2025-06-05T16:50:51.321Z,1749142251.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708663 target range: 195.276520 and range: 196.90 m.
2025-06-05T16:50:51.355Z,1749142251.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497548
2025-06-05T16:50:51.609Z,1749142251.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750858
2025-06-05T16:50:51.710Z,1749142251.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.28 m.
2025-06-05T16:50:51.715Z,1749142251.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.276520 m,
      nav range: 191.376740 m,
      bearing: 335.430899 deg,
      approach rate: -0.665222 m/s,
      LOS rate: -0.009264 deg/s,
      cmd heading: 327.082296 deg,
      new cmd heading: 327.071363 deg.

2025-06-05T16:50:51.716Z,1749142251.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708472 target range: 195.276520 and range: 196.90 m.
2025-06-05T16:50:51.859Z,1749142251.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001648
2025-06-05T16:50:52.111Z,1749142252.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253571
2025-06-05T16:50:52.186Z,1749142252.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.28 m.
2025-06-05T16:50:52.189Z,1749142252.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.276520 m,
      nav range: 191.081635 m,
      bearing: 335.422616 deg,
      approach rate: -0.624767 m/s,
      LOS rate: -0.017562 deg/s,
      cmd heading: 327.071368 deg,
      new cmd heading: 327.046482 deg.

2025-06-05T16:50:52.195Z,1749142252.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708038 target range: 195.276520 and range: 196.90 m.
2025-06-05T16:50:52.365Z,1749142252.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506862
2025-06-05T16:50:52.387Z,1749142252.387 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:50:52.560Z,1749142252.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:52.563Z,1749142252.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.28 m.
2025-06-05T16:50:52.565Z,1749142252.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.276520 m,
      nav range: 190.814713 m,
      bearing: 335.415033 deg,
      approach rate: -0.701987 m/s,
      LOS rate: -0.019973 deg/s,
      cmd heading: 327.046478 deg,
      new cmd heading: 327.023695 deg.

2025-06-05T16:50:52.567Z,1749142252.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707640 target range: 195.276520 and range: 196.90 m.
2025-06-05T16:50:52.617Z,1749142252.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759137
2025-06-05T16:50:52.867Z,1749142252.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009539
2025-06-05T16:50:53.079Z,1749142253.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.28 m.
2025-06-05T16:50:53.083Z,1749142253.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.276520 m,
      nav range: 190.460556 m,
      bearing: 335.404535 deg,
      approach rate: -0.686307 m/s,
      LOS rate: -0.020380 deg/s,
      cmd heading: 327.023693 deg,
      new cmd heading: 326.992142 deg.

2025-06-05T16:50:53.084Z,1749142253.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707089 target range: 195.276520 and range: 196.90 m.
2025-06-05T16:50:53.119Z,1749142253.119 [DAT](INFO): DAT read: Rx Time:16:50:51.7174

2025-06-05T16:50:53.119Z,1749142253.119 [DAT](INFO): Rx dataTimestamp_ set to:1749142253.119172
2025-06-05T16:50:53.120Z,1749142253.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262357
2025-06-05T16:50:53.371Z,1749142253.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513738
2025-06-05T16:50:53.390Z,1749142253.390 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:50:53.437Z,1749142253.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.28 m.
2025-06-05T16:50:53.440Z,1749142253.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.276520 m,
      nav range: 190.216431 m,
      bearing: 335.397190 deg,
      approach rate: -0.680540 m/s,
      LOS rate: -0.020503 deg/s,
      cmd heading: 326.992137 deg,
      new cmd heading: 326.970072 deg.

2025-06-05T16:50:53.442Z,1749142253.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706704 target range: 195.276520 and range: 196.90 m.
2025-06-05T16:50:53.643Z,1749142253.643 [DAT](INFO): DAT read: 16:50:51.7174 LVL= 21648, 30257, 20658, 30611, AGC= 67, IDX= 403,-0.17,-0.451,-2.221,-0.874,-1.249, PHS= 0.886,-0.925, 0.372, RAW= 134.0,  -4.2, CAL= 139.5, -14.4, ROT=  10.5,  14.4

2025-06-05T16:50:53.647Z,1749142253.647 [DAT](INFO): got valid direction response:
 16:50:51.7174 LVL= 21648, 30257, 20658, 30611, AGC= 67, IDX= 403,-0.17,-0.451,-2.221,-0.874,-1.249, PHS= 0.886,-0.925, 0.372, RAW= 134.0,  -4.2, CAL= 139.5, -14.4, ROT=  10.5,  14.4

2025-06-05T16:50:53.649Z,1749142253.649 [DAT](INFO): DAT read: Bearing  10.5,  14.4 (Local)

2025-06-05T16:50:53.652Z,1749142253.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.5,  14.4 (Local)

2025-06-05T16:50:53.659Z,1749142253.659 [DAT](INFO): DAT read: Range 10 to 50 : 193.8 m  (Round-trip  258.4 ms) speed  0.8 m/s

2025-06-05T16:50:53.660Z,1749142253.660 [DAT](INFO): DAT read: user:2423>

2025-06-05T16:50:53.661Z,1749142253.661 [DAT](INFO): DAT read: Tx time:16:50:52.8048

2025-06-05T16:50:53.661Z,1749142253.661 [DAT](INFO): Ping request sent.
2025-06-05T16:50:53.661Z,1749142253.661 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:50:53.661Z,1749142253.661 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:50:53.686Z,1749142253.686 [DAT](INFO): direction in FSK: [0.952364,0.176510,-0.248690]
2025-06-05T16:50:53.686Z,1749142253.686 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:53.687Z,1749142253.687 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:53.695Z,1749142253.695 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:53.696Z,1749142253.696 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:53.838Z,1749142253.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 193.800003 m,
      deltaT: 3.781156 s,
      deltaX: -3.099991 m,
      approachRate: -0.819853 m/s,
      rangeRepo size: 4

2025-06-05T16:50:53.844Z,1749142253.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 192.199066 m,
      bearing: 338.460522 deg,
      lat: 36.906427 deg,
      lon: -122.116018 deg,
      deltaT: 3.781156 s,
      deltaX: -3.077454 m,
      approachRate: -0.813892 m/s,
      posRepo size: 4

2025-06-05T16:50:53.845Z,1749142253.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:53.853Z,1749142253.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 189.956451 m,
      bearing: 335.389290 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020503 deg/s,
      cmd heading: 326.970062 deg,
      new cmd heading: 326.945457 deg.

2025-06-05T16:50:53.854Z,1749142253.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706275 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:53.875Z,1749142253.875 [DAT](INFO): DAT read: TxSync time:16:50:52.8041

2025-06-05T16:50:54.248Z,1749142254.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:54.251Z,1749142254.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 189.665146 m,
      bearing: 335.380407 deg,
      approach rate: -0.712671 m/s,
      LOS rate: -0.021767 deg/s,
      cmd heading: 326.945446 deg,
      new cmd heading: 326.918754 deg.

2025-06-05T16:50:54.252Z,1749142254.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705809 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:54.631Z,1749142254.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:54.633Z,1749142254.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:54.636Z,1749142254.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 189.402664 m,
      bearing: 335.372318 deg,
      approach rate: -0.677430 m/s,
      LOS rate: -0.020904 deg/s,
      cmd heading: 326.918754 deg,
      new cmd heading: 326.894455 deg.

2025-06-05T16:50:54.638Z,1749142254.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705385 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:54.884Z,1749142254.884 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:50:54.884Z,1749142254.884 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:50:54.884Z,1749142254.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:55.088Z,1749142255.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:55.091Z,1749142255.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 189.091248 m,
      bearing: 335.363210 deg,
      approach rate: -0.684489 m/s,
      LOS rate: -0.020053 deg/s,
      cmd heading: 326.894466 deg,
      new cmd heading: 326.867096 deg.

2025-06-05T16:50:55.092Z,1749142255.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704907 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:55.136Z,1749142255.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475062
2025-06-05T16:50:55.387Z,1749142255.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726122
2025-06-05T16:50:55.451Z,1749142255.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:55.455Z,1749142255.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 188.855255 m,
      bearing: 335.356123 deg,
      approach rate: -0.649999 m/s,
      LOS rate: -0.019546 deg/s,
      cmd heading: 326.867090 deg,
      new cmd heading: 326.845801 deg.

2025-06-05T16:50:55.456Z,1749142255.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704535 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:55.639Z,1749142255.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978122
2025-06-05T16:50:55.839Z,1749142255.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:55.841Z,1749142255.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 188.576263 m,
      bearing: 335.347411 deg,
      approach rate: -0.721067 m/s,
      LOS rate: -0.022550 deg/s,
      cmd heading: 326.845807 deg,
      new cmd heading: 326.819633 deg.

2025-06-05T16:50:55.843Z,1749142255.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704079 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:55.893Z,1749142255.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231412
2025-06-05T16:50:56.143Z,1749142256.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482110
2025-06-05T16:50:56.276Z,1749142256.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:56.284Z,1749142256.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 188.280991 m,
      bearing: 335.339826 deg,
      approach rate: -0.675111 m/s,
      LOS rate: -0.017369 deg/s,
      cmd heading: 326.819634 deg,
      new cmd heading: 326.796844 deg.

2025-06-05T16:50:56.285Z,1749142256.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703681 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:56.397Z,1749142256.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735408
2025-06-05T16:50:56.648Z,1749142256.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987534
2025-06-05T16:50:56.655Z,1749142256.655 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:56.657Z,1749142256.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:56.661Z,1749142256.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 188.016006 m,
      bearing: 335.332898 deg,
      approach rate: -0.694814 m/s,
      LOS rate: -0.018192 deg/s,
      cmd heading: 326.796849 deg,
      new cmd heading: 326.776034 deg.

2025-06-05T16:50:56.662Z,1749142256.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703318 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:56.899Z,1749142256.899 [DAT](INFO): DAT read: Rx Time:16:50:55.4365

2025-06-05T16:50:56.900Z,1749142256.900 [DAT](INFO): Rx dataTimestamp_ set to:1749142256.899243
2025-06-05T16:50:56.900Z,1749142256.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239173
2025-06-05T16:50:57.142Z,1749142257.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:57.145Z,1749142257.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 187.691711 m,
      bearing: 335.326681 deg,
      approach rate: -0.674077 m/s,
      LOS rate: -0.012944 deg/s,
      cmd heading: 326.776030 deg,
      new cmd heading: 326.757348 deg.

2025-06-05T16:50:57.147Z,1749142257.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702991 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:57.151Z,1749142257.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490337
2025-06-05T16:50:57.412Z,1749142257.412 [DAT](INFO): DAT read: 16:50:55.4365 LVL= 32752, 32081, 29058, 32755, AGC= 67, IDX= 116, 0.24,-1.426, 3.025,-1.835,-2.240, PHS= 0.903,-0.971, 0.402, RAW= 135.0,  -4.0, CAL= 140.6, -14.1, ROT=   9.4,  14.1

2025-06-05T16:50:57.415Z,1749142257.415 [DAT](INFO): got valid direction response:
 16:50:55.4365 LVL= 32752, 32081, 29058, 32755, AGC= 67, IDX= 116, 0.24,-1.426, 3.025,-1.835,-2.240, PHS= 0.903,-0.971, 0.402, RAW= 135.0,  -4.0, CAL= 140.6, -14.1, ROT=   9.4,  14.1

2025-06-05T16:50:57.416Z,1749142257.416 [DAT](INFO): DAT read: Bearing   9.4,  14.1 (Local)

2025-06-05T16:50:57.416Z,1749142257.416 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.4,  14.1 (Local)

2025-06-05T16:50:57.417Z,1749142257.417 [DAT](INFO): DAT read: Range 10 to 50 : 170.5 m  (Round-trip  227.4 ms) speed  0.5 m/s

2025-06-05T16:50:57.418Z,1749142257.418 [DAT](INFO): DAT read: user:2424>

2025-06-05T16:50:57.419Z,1749142257.419 [DAT](INFO): DAT read: Tx time:16:50:56.5549

2025-06-05T16:50:57.419Z,1749142257.419 [DAT](INFO): Ping request sent.
2025-06-05T16:50:57.419Z,1749142257.419 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:50:57.420Z,1749142257.420 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:50:57.421Z,1749142257.421 [DAT](INFO): direction in FSK: [0.956849,0.158405,-0.243615]
2025-06-05T16:50:57.421Z,1749142257.421 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:57.421Z,1749142257.421 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:57.425Z,1749142257.425 [DAT](INFO): publishing transmit ping time
2025-06-05T16:50:57.425Z,1749142257.425 [DAT](INFO): publishing direction and range info
2025-06-05T16:50:57.615Z,1749142257.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 170.500000 m,
 deltaT: 3.778846 s,
 deltaX: -23.300003 m,
 approachRate: -6.165905 m/s,
 rangeRepo size: 4
2025-06-05T16:50:57.616Z,1749142257.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:57.623Z,1749142257.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 187.397125 m,
      bearing: 335.321015 deg,
      approach rate: -0.629123 m/s,
      LOS rate: -0.012118 deg/s,
      cmd heading: 326.757343 deg,
      new cmd heading: 326.740319 deg.

2025-06-05T16:50:57.624Z,1749142257.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702694 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:57.656Z,1749142257.656 [DAT](INFO): DAT read: TxSync time:16:50:56.5541

2025-06-05T16:50:57.959Z,1749142257.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:57.961Z,1749142257.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 187.142990 m,
      bearing: 335.316301 deg,
      approach rate: -0.730607 m/s,
      LOS rate: -0.013570 deg/s,
      cmd heading: 326.740322 deg,
      new cmd heading: 326.726161 deg.

2025-06-05T16:50:57.967Z,1749142257.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702447 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:58.356Z,1749142258.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:58.375Z,1749142258.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 186.868286 m,
      bearing: 335.314312 deg,
      approach rate: -0.684034 m/s,
      LOS rate: -0.004960 deg/s,
      cmd heading: 326.726170 deg,
      new cmd heading: 326.720194 deg.

2025-06-05T16:50:58.376Z,1749142258.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702343 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:58.757Z,1749142258.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:50:58.759Z,1749142258.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:58.763Z,1749142258.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 186.595444 m,
      bearing: 335.312870 deg,
      approach rate: -0.675930 m/s,
      LOS rate: -0.003578 deg/s,
      cmd heading: 326.720186 deg,
      new cmd heading: 326.715854 deg.

2025-06-05T16:50:58.765Z,1749142258.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702267 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:58.916Z,1749142258.916 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:50:58.916Z,1749142258.916 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:50:58.916Z,1749142258.916 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:50:59.167Z,1749142259.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747651
2025-06-05T16:50:59.181Z,1749142259.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:59.188Z,1749142259.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 186.330765 m,
      bearing: 335.314359 deg,
      approach rate: -0.627792 m/s,
      LOS rate: 0.003536 deg/s,
      cmd heading: 326.715842 deg,
      new cmd heading: 326.720314 deg.

2025-06-05T16:50:59.189Z,1749142259.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702345 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:59.421Z,1749142259.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002102
2025-06-05T16:50:59.563Z,1749142259.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:59.565Z,1749142259.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 186.066772 m,
      bearing: 335.315955 deg,
      approach rate: -0.691976 m/s,
      LOS rate: 0.004189 deg/s,
      cmd heading: 326.720323 deg,
      new cmd heading: 326.725118 deg.

2025-06-05T16:50:59.567Z,1749142259.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702429 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:50:59.673Z,1749142259.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253472
2025-06-05T16:50:59.923Z,1749142259.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503772
2025-06-05T16:50:59.966Z,1749142259.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:50:59.969Z,1749142259.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 185.801270 m,
      bearing: 335.317652 deg,
      approach rate: -0.658919 m/s,
      LOS rate: 0.004218 deg/s,
      cmd heading: 326.725104 deg,
      new cmd heading: 326.730203 deg.

2025-06-05T16:50:59.970Z,1749142259.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702518 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:51:00.175Z,1749142260.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755818
2025-06-05T16:51:00.392Z,1749142260.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:51:00.406Z,1749142260.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 185.524170 m,
      bearing: 335.319383 deg,
      approach rate: -0.650067 m/s,
      LOS rate: 0.004068 deg/s,
      cmd heading: 326.730213 deg,
      new cmd heading: 326.735415 deg.

2025-06-05T16:51:00.409Z,1749142260.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702609 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:51:00.428Z,1749142260.428 [DAT](INFO): DAT read: Rx Time:16:50:59.1831

2025-06-05T16:51:00.428Z,1749142260.428 [DAT](INFO): Rx dataTimestamp_ set to:1749142260.427963
2025-06-05T16:51:00.429Z,1749142260.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009486
2025-06-05T16:51:00.683Z,1749142260.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262670
2025-06-05T16:51:00.776Z,1749142260.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:00.782Z,1749142260.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.20 m.
2025-06-05T16:51:00.785Z,1749142260.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.199066 m,
      nav range: 185.273178 m,
      bearing: 335.321025 deg,
      approach rate: -0.649563 m/s,
      LOS rate: 0.004255 deg/s,
      cmd heading: 326.735404 deg,
      new cmd heading: 326.740337 deg.

2025-06-05T16:51:00.790Z,1749142260.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702695 target range: 192.199066 and range: 193.80 m.
2025-06-05T16:51:00.932Z,1749142260.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512263
2025-06-05T16:51:01.198Z,1749142261.198 [DAT](INFO): DAT read: 16:50:59.1831 LVL= 27424, 32753, 25330, 32755, AGC= 69, IDX= 401, 0.33, 1.239,-0.505, 0.817, 0.449, PHS= 0.878,-0.906, 0.365, RAW= 133.8,  -4.3, CAL= 139.3, -14.6, ROT=  10.7,  14.6

2025-06-05T16:51:01.199Z,1749142261.199 [DAT](INFO): got valid direction response:
 16:50:59.1831 LVL= 27424, 32753, 25330, 32755, AGC= 69, IDX= 401, 0.33, 1.239,-0.505, 0.817, 0.449, PHS= 0.878,-0.906, 0.365, RAW= 133.8,  -4.3, CAL= 139.3, -14.6, ROT=  10.7,  14.6

2025-06-05T16:51:01.200Z,1749142261.200 [DAT](INFO): DAT read: Bearing  10.7,  14.6 (Local)

2025-06-05T16:51:01.200Z,1749142261.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.7,  14.6 (Local)

2025-06-05T16:51:01.202Z,1749142261.202 [DAT](INFO): DAT read: Range 10 to 50 : 168.0 m  (Round-trip  224.0 ms) speed  0.4 m/s

2025-06-05T16:51:01.203Z,1749142261.203 [DAT](INFO): DAT read: user:2425>

2025-06-05T16:51:01.204Z,1749142261.204 [DAT](INFO): DAT read: Tx time:16:51:00.3049

2025-06-05T16:51:01.204Z,1749142261.204 [DAT](INFO): Ping request sent.
2025-06-05T16:51:01.204Z,1749142261.204 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:01.204Z,1749142261.204 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:51:01.205Z,1749142261.205 [DAT](INFO): direction in FSK: [0.950883,0.179671,-0.252069]
2025-06-05T16:51:01.205Z,1749142261.205 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:01.206Z,1749142261.206 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:01.209Z,1749142261.209 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:01.209Z,1749142261.209 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:01.291Z,1749142261.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 168.000000 m,
      deltaT: 7.566537 s,
      deltaX: -25.800003 m,
      approachRate: -3.409750 m/s,
      rangeRepo size: 4

2025-06-05T16:51:01.293Z,1749142261.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 166.611694 m,
      bearing: 338.295973 deg,
      lat: 36.906423 deg,
      lon: -122.115857 deg,
      deltaT: 7.566537 s,
      deltaX: -25.587372 m,
      approachRate: -3.381649 m/s,
      posRepo size: 4

2025-06-05T16:51:01.294Z,1749142261.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.61 m.
2025-06-05T16:51:01.301Z,1749142261.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.611694 m,
      nav range: 179.070831 m,
      bearing: 339.446314 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004255 deg/s,
      cmd heading: 326.740349 deg,
      new cmd heading: 326.746776 deg.

2025-06-05T16:51:01.303Z,1749142261.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702807 target range: 166.611694 and range: 168.00 m.
2025-06-05T16:51:01.443Z,1749142261.443 [DAT](INFO): DAT read: TxSync time:16:51:00.3041

2025-06-05T16:51:01.661Z,1749142261.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.61 m.
2025-06-05T16:51:01.672Z,1749142261.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.611694 m,
      nav range: 178.830673 m,
      bearing: 339.454045 deg,
      approach rate: -0.632683 m/s,
      LOS rate: 0.020392 deg/s,
      cmd heading: 326.746770 deg,
      new cmd heading: 326.769992 deg.

2025-06-05T16:51:01.673Z,1749142261.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703212 target range: 166.611694 and range: 168.00 m.
2025-06-05T16:51:02.025Z,1749142262.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.61 m.
2025-06-05T16:51:02.028Z,1749142262.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.611694 m,
      nav range: 178.589493 m,
      bearing: 339.462118 deg,
      approach rate: -0.667803 m/s,
      LOS rate: 0.022386 deg/s,
      cmd heading: 326.769992 deg,
      new cmd heading: 326.794247 deg.

2025-06-05T16:51:02.029Z,1749142262.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703636 target range: 166.611694 and range: 168.00 m.
2025-06-05T16:51:02.430Z,1749142262.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.61 m.
2025-06-05T16:51:02.433Z,1749142262.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.611694 m,
      nav range: 178.316742 m,
      bearing: 339.473372 deg,
      approach rate: -0.670702 m/s,
      LOS rate: 0.027715 deg/s,
      cmd heading: 326.794253 deg,
      new cmd heading: 326.828065 deg.

2025-06-05T16:51:02.435Z,1749142262.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704226 target range: 166.611694 and range: 168.00 m.
2025-06-05T16:51:02.917Z,1749142262.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:02.919Z,1749142262.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.61 m.
2025-06-05T16:51:02.922Z,1749142262.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.611694 m,
      nav range: 178.003510 m,
      bearing: 339.486255 deg,
      approach rate: -0.638730 m/s,
      LOS rate: 0.026317 deg/s,
      cmd heading: 326.828076 deg,
      new cmd heading: 326.866794 deg.

2025-06-05T16:51:02.923Z,1749142262.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704902 target range: 166.611694 and range: 168.00 m.
2025-06-05T16:51:02.979Z,1749142262.979 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:02.980Z,1749142262.980 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:02.980Z,1749142262.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:03.227Z,1749142263.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022993
2025-06-05T16:51:03.283Z,1749142263.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.61 m.
2025-06-05T16:51:03.285Z,1749142263.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.611694 m,
      nav range: 177.780167 m,
      bearing: 339.493844 deg,
      approach rate: -0.622196 m/s,
      LOS rate: 0.021167 deg/s,
      cmd heading: 326.866790 deg,
      new cmd heading: 326.889584 deg.

2025-06-05T16:51:03.291Z,1749142263.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705299 target range: 166.611694 and range: 168.00 m.
2025-06-05T16:51:03.481Z,1749142263.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276175
2025-06-05T16:51:03.656Z,1749142263.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.61 m.
2025-06-05T16:51:03.663Z,1749142263.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.611694 m,
      nav range: 177.545792 m,
      bearing: 339.501673 deg,
      approach rate: -0.620723 m/s,
      LOS rate: 0.020764 deg/s,
      cmd heading: 326.889575 deg,
      new cmd heading: 326.913096 deg.

2025-06-05T16:51:03.664Z,1749142263.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705710 target range: 166.611694 and range: 168.00 m.
2025-06-05T16:51:03.733Z,1749142263.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528135
2025-06-05T16:51:03.983Z,1749142263.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779360
2025-06-05T16:51:04.176Z,1749142264.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.61 m.
2025-06-05T16:51:04.179Z,1749142264.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.611694 m,
      nav range: 177.228470 m,
      bearing: 339.512156 deg,
      approach rate: -0.610103 m/s,
      LOS rate: 0.020191 deg/s,
      cmd heading: 326.913098 deg,
      new cmd heading: 326.944604 deg.

2025-06-05T16:51:04.181Z,1749142264.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706260 target range: 166.611694 and range: 168.00 m.
2025-06-05T16:51:04.237Z,1749142264.237 [DAT](INFO): DAT read: Rx Time:16:51:02.9296

2025-06-05T16:51:04.237Z,1749142264.237 [DAT](INFO): Rx dataTimestamp_ set to:1749142264.236723
2025-06-05T16:51:04.239Z,1749142264.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033975
2025-06-05T16:51:04.460Z,1749142264.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.61 m.
2025-06-05T16:51:04.463Z,1749142264.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.611694 m,
      nav range: 177.026749 m,
      bearing: 339.518715 deg,
      approach rate: -0.711765 m/s,
      LOS rate: 0.023168 deg/s,
      cmd heading: 326.944599 deg,
      new cmd heading: 326.964298 deg.

2025-06-05T16:51:04.465Z,1749142264.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706604 target range: 166.611694 and range: 168.00 m.
2025-06-05T16:51:04.487Z,1749142264.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283185
2025-06-05T16:51:04.641Z,1749142264.641 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:51:04.755Z,1749142264.755 [DAT](INFO): DAT read: 16:51:02.9296 LVL= 21232, 29361, 21954, 32755, AGC= 65, IDX= 399, 0.09, 3.013, 1.466, 2.557, 2.257, PHS= 0.844,-0.744, 0.297, RAW= 130.2,  -5.7, CAL= 135.2, -17.2, ROT=  14.8,  17.2

2025-06-05T16:51:04.756Z,1749142264.756 [DAT](INFO): got valid direction response:
 16:51:02.9296 LVL= 21232, 29361, 21954, 32755, AGC= 65, IDX= 399, 0.09, 3.013, 1.466, 2.557, 2.257, PHS= 0.844,-0.744, 0.297, RAW= 130.2,  -5.7, CAL= 135.2, -17.2, ROT=  14.8,  17.2

2025-06-05T16:51:04.757Z,1749142264.757 [DAT](INFO): DAT read: Bearing  14.8,  17.2 (Local)

2025-06-05T16:51:04.757Z,1749142264.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.8,  17.2 (Local)

2025-06-05T16:51:04.759Z,1749142264.759 [DAT](INFO): DAT read: Range 10 to 50 : 165.4 m  (Round-trip  220.6 ms) speed  0.7 m/s

2025-06-05T16:51:04.760Z,1749142264.760 [DAT](INFO): DAT read: user:2426>

2025-06-05T16:51:04.760Z,1749142264.760 [DAT](INFO): DAT read: Tx time:16:51:04.0049

2025-06-05T16:51:04.761Z,1749142264.761 [DAT](INFO): Ping request sent.
2025-06-05T16:51:04.761Z,1749142264.761 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:04.761Z,1749142264.761 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:51:04.762Z,1749142264.762 [DAT](INFO): direction in FSK: [0.923585,0.244022,-0.295708]
2025-06-05T16:51:04.763Z,1749142264.763 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:04.763Z,1749142264.763 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:04.766Z,1749142264.766 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:04.766Z,1749142264.766 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:04.950Z,1749142264.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 165.399994 m,
      deltaT: 3.549131 s,
      deltaX: -2.600006 m,
      approachRate: -0.732575 m/s,
      rangeRepo size: 4

2025-06-05T16:51:04.953Z,1749142264.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 164.028336 m,
      bearing: 342.897242 deg,
      lat: 36.906307 deg,
      lon: -122.115842 deg,
      deltaT: 3.549131 s,
      deltaX: -2.583359 m,
      approachRate: -0.727885 m/s,
      posRepo size: 4

2025-06-05T16:51:04.954Z,1749142264.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.03 m.
2025-06-05T16:51:04.970Z,1749142264.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.028336 m,
      nav range: 164.239105 m,
      bearing: 338.383105 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023168 deg/s,
      cmd heading: 326.964297 deg,
      new cmd heading: 326.998319 deg.

2025-06-05T16:51:04.971Z,1749142264.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707197 target range: 164.028336 and range: 165.40 m.
2025-06-05T16:51:04.991Z,1749142264.991 [DAT](INFO): DAT read: TxSync time:16:51:04.0041

2025-06-05T16:51:05.324Z,1749142265.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:05.331Z,1749142265.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.03 m.
2025-06-05T16:51:05.339Z,1749142265.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.028336 m,
      nav range: 163.972382 m,
      bearing: 338.390255 deg,
      approach rate: -0.706747 m/s,
      LOS rate: 0.018975 deg/s,
      cmd heading: 326.998312 deg,
      new cmd heading: 327.019795 deg.

2025-06-05T16:51:05.340Z,1749142265.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707572 target range: 164.028336 and range: 165.40 m.
2025-06-05T16:51:05.495Z,1749142265.495 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:05.495Z,1749142265.495 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:05.496Z,1749142265.496 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:05.671Z,1749142265.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.03 m.
2025-06-05T16:51:05.674Z,1749142265.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.028336 m,
      nav range: 163.747513 m,
      bearing: 338.396414 deg,
      approach rate: -0.651986 m/s,
      LOS rate: 0.017883 deg/s,
      cmd heading: 327.019786 deg,
      new cmd heading: 327.038290 deg.

2025-06-05T16:51:05.675Z,1749142265.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707895 target range: 164.028336 and range: 165.40 m.
2025-06-05T16:51:05.747Z,1749142265.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986630
2025-06-05T16:51:05.999Z,1749142265.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238543
2025-06-05T16:51:06.127Z,1749142266.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.03 m.
2025-06-05T16:51:06.140Z,1749142266.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.028336 m,
      nav range: 163.464951 m,
      bearing: 338.403997 deg,
      approach rate: -0.622594 m/s,
      LOS rate: 0.016736 deg/s,
      cmd heading: 327.038282 deg,
      new cmd heading: 327.061069 deg.

2025-06-05T16:51:06.161Z,1749142266.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708292 target range: 164.028336 and range: 165.40 m.
2025-06-05T16:51:06.251Z,1749142266.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490441
2025-06-05T16:51:06.503Z,1749142266.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742401
2025-06-05T16:51:06.592Z,1749142266.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.03 m.
2025-06-05T16:51:06.606Z,1749142266.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.028336 m,
      nav range: 163.167221 m,
      bearing: 338.401184 deg,
      approach rate: -0.638218 m/s,
      LOS rate: -0.006041 deg/s,
      cmd heading: 327.061068 deg,
      new cmd heading: 327.052613 deg.

2025-06-05T16:51:06.607Z,1749142266.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708145 target range: 164.028336 and range: 165.40 m.
2025-06-05T16:51:06.755Z,1749142266.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994244
2025-06-05T16:51:07.007Z,1749142267.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246410
2025-06-05T16:51:07.055Z,1749142267.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.03 m.
2025-06-05T16:51:07.058Z,1749142267.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.028336 m,
      nav range: 162.860825 m,
      bearing: 338.397737 deg,
      approach rate: -0.660834 m/s,
      LOS rate: -0.007449 deg/s,
      cmd heading: 327.052625 deg,
      new cmd heading: 327.042264 deg.

2025-06-05T16:51:07.059Z,1749142267.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707964 target range: 164.028336 and range: 165.40 m.
2025-06-05T16:51:07.259Z,1749142267.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498341
2025-06-05T16:51:07.477Z,1749142267.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:07.479Z,1749142267.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.03 m.
2025-06-05T16:51:07.484Z,1749142267.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.028336 m,
      nav range: 162.582977 m,
      bearing: 338.395391 deg,
      approach rate: -0.655927 m/s,
      LOS rate: -0.005547 deg/s,
      cmd heading: 327.042271 deg,
      new cmd heading: 327.035222 deg.

2025-06-05T16:51:07.485Z,1749142267.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707841 target range: 164.028336 and range: 165.40 m.
2025-06-05T16:51:07.511Z,1749142267.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750482
2025-06-05T16:51:07.764Z,1749142267.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003022
2025-06-05T16:51:07.860Z,1749142267.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.03 m.
2025-06-05T16:51:07.880Z,1749142267.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.028336 m,
      nav range: 162.334137 m,
      bearing: 338.393162 deg,
      approach rate: -0.654604 m/s,
      LOS rate: -0.005873 deg/s,
      cmd heading: 327.035222 deg,
      new cmd heading: 327.028524 deg.

2025-06-05T16:51:07.882Z,1749142267.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707725 target range: 164.028336 and range: 165.40 m.
2025-06-05T16:51:08.015Z,1749142268.015 [DAT](INFO): DAT read: Rx Time:16:51:06.6265

2025-06-05T16:51:08.016Z,1749142268.016 [DAT](INFO): Rx dataTimestamp_ set to:1749142268.015429
2025-06-05T16:51:08.016Z,1749142268.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255481
2025-06-05T16:51:08.267Z,1749142268.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506608
2025-06-05T16:51:08.275Z,1749142268.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.03 m.
2025-06-05T16:51:08.278Z,1749142268.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.028336 m,
      nav range: 162.058426 m,
      bearing: 338.391801 deg,
      approach rate: -0.662345 m/s,
      LOS rate: -0.003274 deg/s,
      cmd heading: 327.028529 deg,
      new cmd heading: 327.024440 deg.

2025-06-05T16:51:08.280Z,1749142268.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707653 target range: 164.028336 and range: 165.40 m.
2025-06-05T16:51:08.528Z,1749142268.528 [DAT](INFO): DAT read: 16:51:06.6265 LVL= 22880, 31025, 19522, 32179, AGC= 65, IDX= 414, 0.40, 2.965, 1.302, 2.544, 2.224, PHS= 0.829,-0.875, 0.317, RAW= 133.0,  -3.6, CAL= 138.5, -13.8, ROT=  11.5,  13.8

2025-06-05T16:51:08.529Z,1749142268.529 [DAT](INFO): got valid direction response:
 16:51:06.6265 LVL= 22880, 31025, 19522, 32179, AGC= 65, IDX= 414, 0.40, 2.965, 1.302, 2.544, 2.224, PHS= 0.829,-0.875, 0.317, RAW= 133.0,  -3.6, CAL= 138.5, -13.8, ROT=  11.5,  13.8

2025-06-05T16:51:08.532Z,1749142268.532 [DAT](INFO): DAT read: Bearing  11.5,  13.8 (Local)

2025-06-05T16:51:08.532Z,1749142268.532 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.5,  13.8 (Local)

2025-06-05T16:51:08.535Z,1749142268.535 [DAT](INFO): DAT read: Range 10 to 50 : 163.0 m  (Round-trip  217.4 ms) speed  0.6 m/s

2025-06-05T16:51:08.536Z,1749142268.536 [DAT](INFO): DAT read: user:2427>

2025-06-05T16:51:08.537Z,1749142268.537 [DAT](INFO): DAT read: Tx time:16:51:07.7049

2025-06-05T16:51:08.538Z,1749142268.538 [DAT](INFO): Ping request sent.
2025-06-05T16:51:08.538Z,1749142268.538 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:08.542Z,1749142268.542 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:51:08.545Z,1749142268.545 [DAT](INFO): direction in FSK: [0.951638,0.193613,-0.238533]
2025-06-05T16:51:08.546Z,1749142268.546 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:08.586Z,1749142268.586 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:08.589Z,1749142268.589 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:08.590Z,1749142268.590 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:08.711Z,1749142268.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 163.000000 m,
      deltaT: 3.779098 s,
      deltaX: -2.399994 m,
      approachRate: -0.635071 m/s,
      rangeRepo size: 4

2025-06-05T16:51:08.713Z,1749142268.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 161.647202 m,
      bearing: 340.228783 deg,
      lat: 36.906298 deg,
      lon: -122.115832 deg,
      deltaT: 3.779098 s,
      deltaX: -2.381134 m,
      approachRate: -0.630080 m/s,
      posRepo size: 4

2025-06-05T16:51:08.718Z,1749142268.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.65 m.
2025-06-05T16:51:08.721Z,1749142268.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.647202 m,
      nav range: 160.489182 m,
      bearing: 338.556977 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003274 deg/s,
      cmd heading: 327.024430 deg,
      new cmd heading: 327.020200 deg.

2025-06-05T16:51:08.722Z,1749142268.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707579 target range: 161.647202 and range: 163.00 m.
2025-06-05T16:51:08.773Z,1749142268.773 [DAT](INFO): DAT read: TxSync time:16:51:07.7041

2025-06-05T16:51:09.088Z,1749142269.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.65 m.
2025-06-05T16:51:09.091Z,1749142269.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.647202 m,
      nav range: 160.226151 m,
      bearing: 338.556112 deg,
      approach rate: -0.689344 m/s,
      LOS rate: -0.002271 deg/s,
      cmd heading: 327.020196 deg,
      new cmd heading: 327.017597 deg.

2025-06-05T16:51:09.092Z,1749142269.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707534 target range: 161.647202 and range: 163.00 m.
2025-06-05T16:51:09.515Z,1749142269.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:09.519Z,1749142269.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.65 m.
2025-06-05T16:51:09.525Z,1749142269.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.647202 m,
      nav range: 159.918640 m,
      bearing: 338.551959 deg,
      approach rate: -0.714599 m/s,
      LOS rate: -0.009669 deg/s,
      cmd heading: 327.017600 deg,
      new cmd heading: 327.005118 deg.

2025-06-05T16:51:09.528Z,1749142269.528 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:09.528Z,1749142269.528 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:09.528Z,1749142269.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:09.532Z,1749142269.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707316 target range: 161.647202 and range: 163.00 m.
2025-06-05T16:51:09.781Z,1749142269.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243164
2025-06-05T16:51:09.881Z,1749142269.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.65 m.
2025-06-05T16:51:09.884Z,1749142269.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.647202 m,
      nav range: 159.666000 m,
      bearing: 338.548445 deg,
      approach rate: -0.695079 m/s,
      LOS rate: -0.009683 deg/s,
      cmd heading: 327.005115 deg,
      new cmd heading: 326.994556 deg.

2025-06-05T16:51:09.885Z,1749142269.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707132 target range: 161.647202 and range: 163.00 m.
2025-06-05T16:51:10.032Z,1749142270.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494091
2025-06-05T16:51:10.283Z,1749142270.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745705
2025-06-05T16:51:10.326Z,1749142270.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.65 m.
2025-06-05T16:51:10.333Z,1749142270.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.647202 m,
      nav range: 159.377670 m,
      bearing: 338.546844 deg,
      approach rate: -0.649259 m/s,
      LOS rate: -0.003613 deg/s,
      cmd heading: 326.994569 deg,
      new cmd heading: 326.989756 deg.

2025-06-05T16:51:10.340Z,1749142270.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707048 target range: 161.647202 and range: 163.00 m.
2025-06-05T16:51:10.536Z,1749142270.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998066
2025-06-05T16:51:10.692Z,1749142270.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.65 m.
2025-06-05T16:51:10.695Z,1749142270.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.647202 m,
      nav range: 159.112289 m,
      bearing: 338.545237 deg,
      approach rate: -0.723858 m/s,
      LOS rate: -0.004390 deg/s,
      cmd heading: 326.989760 deg,
      new cmd heading: 326.984932 deg.

2025-06-05T16:51:10.699Z,1749142270.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706964 target range: 161.647202 and range: 163.00 m.
2025-06-05T16:51:10.787Z,1749142270.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249606
2025-06-05T16:51:11.039Z,1749142271.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501558
2025-06-05T16:51:11.089Z,1749142271.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.65 m.
2025-06-05T16:51:11.092Z,1749142271.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.647202 m,
      nav range: 158.842392 m,
      bearing: 338.543622 deg,
      approach rate: -0.680518 m/s,
      LOS rate: -0.004079 deg/s,
      cmd heading: 326.984925 deg,
      new cmd heading: 326.980071 deg.

2025-06-05T16:51:11.093Z,1749142271.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706879 target range: 161.647202 and range: 163.00 m.
2025-06-05T16:51:11.291Z,1749142271.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753621
2025-06-05T16:51:11.509Z,1749142271.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.65 m.
2025-06-05T16:51:11.513Z,1749142271.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.647202 m,
      nav range: 158.550934 m,
      bearing: 338.542937 deg,
      approach rate: -0.692983 m/s,
      LOS rate: -0.001634 deg/s,
      cmd heading: 326.980062 deg,
      new cmd heading: 326.978000 deg.

2025-06-05T16:51:11.515Z,1749142271.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706843 target range: 161.647202 and range: 163.00 m.
2025-06-05T16:51:11.544Z,1749142271.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005882
2025-06-05T16:51:11.795Z,1749142271.795 [DAT](INFO): DAT read: Rx Time:16:51:10.3232

2025-06-05T16:51:11.796Z,1749142271.796 [DAT](INFO): Rx dataTimestamp_ set to:1749142271.795331
2025-06-05T16:51:11.796Z,1749142271.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258438
2025-06-05T16:51:11.889Z,1749142271.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:11.915Z,1749142271.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.65 m.
2025-06-05T16:51:11.917Z,1749142271.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.647202 m,
      nav range: 158.286942 m,
      bearing: 338.542430 deg,
      approach rate: -0.651354 m/s,
      LOS rate: -0.001251 deg/s,
      cmd heading: 326.978012 deg,
      new cmd heading: 326.976491 deg.

2025-06-05T16:51:11.931Z,1749142271.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706816 target range: 161.647202 and range: 163.00 m.
2025-06-05T16:51:12.048Z,1749142272.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510529
2025-06-05T16:51:12.305Z,1749142272.305 [DAT](INFO): DAT read: 16:51:10.3232 LVL= 29664, 32753, 26578, 32755, AGC= 66, IDX= 412, 0.28,-1.791, 2.980,-2.247,-2.439, PHS= 0.736,-0.818, 0.189, RAW= 129.7,  -1.6, CAL= 135.5, -10.9, ROT=  14.5,  10.9

2025-06-05T16:51:12.306Z,1749142272.306 [DAT](INFO): got valid direction response:
 16:51:10.3232 LVL= 29664, 32753, 26578, 32755, AGC= 66, IDX= 412, 0.28,-1.791, 2.980,-2.247,-2.439, PHS= 0.736,-0.818, 0.189, RAW= 129.7,  -1.6, CAL= 135.5, -10.9, ROT=  14.5,  10.9

2025-06-05T16:51:12.307Z,1749142272.307 [DAT](INFO): DAT read: Bearing  14.5,  10.9 (Local)

2025-06-05T16:51:12.307Z,1749142272.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.5,  10.9 (Local)

2025-06-05T16:51:12.309Z,1749142272.309 [DAT](INFO): DAT read: Range 10 to 50 : 160.5 m  (Round-trip  214.0 ms) speed  0.6 m/s

2025-06-05T16:51:12.310Z,1749142272.310 [DAT](INFO): DAT read: user:2428>

2025-06-05T16:51:12.311Z,1749142272.311 [DAT](INFO): DAT read: Tx time:16:51:11.4050

2025-06-05T16:51:12.311Z,1749142272.311 [DAT](INFO): Ping request sent.
2025-06-05T16:51:12.311Z,1749142272.311 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:12.311Z,1749142272.311 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:51:12.313Z,1749142272.313 [DAT](INFO): direction in FSK: [0.950681,0.245863,-0.189095]
2025-06-05T16:51:12.317Z,1749142272.317 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:12.317Z,1749142272.317 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:12.361Z,1749142272.361 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:12.361Z,1749142272.361 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:12.487Z,1749142272.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 160.500000 m,
      deltaT: 3.779966 s,
      deltaX: -2.500000 m,
      approachRate: -0.661382 m/s,
      rangeRepo size: 4

2025-06-05T16:51:12.489Z,1749142272.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 159.169876 m,
      bearing: 342.920162 deg,
      lat: 36.906298 deg,
      lon: -122.115776 deg,
      deltaT: 3.779966 s,
      deltaX: -2.477325 m,
      approachRate: -0.655383 m/s,
      posRepo size: 4

2025-06-05T16:51:12.490Z,1749142272.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:12.506Z,1749142272.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 156.164688 m,
      bearing: 340.240738 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001251 deg/s,
      cmd heading: 326.976483 deg,
      new cmd heading: 326.974357 deg.

2025-06-05T16:51:12.507Z,1749142272.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706779 target range: 159.169876 and range: 160.50 m.
2025-06-05T16:51:12.552Z,1749142272.552 [DAT](INFO): DAT read: TxSync time:16:51:11.4042

2025-06-05T16:51:12.894Z,1749142272.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:12.904Z,1749142272.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 155.866776 m,
      bearing: 340.243225 deg,
      approach rate: -0.721883 m/s,
      LOS rate: 0.006039 deg/s,
      cmd heading: 326.974351 deg,
      new cmd heading: 326.981828 deg.

2025-06-05T16:51:12.905Z,1749142272.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706910 target range: 159.169876 and range: 160.50 m.
2025-06-05T16:51:13.317Z,1749142273.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:13.324Z,1749142273.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 155.614899 m,
      bearing: 340.245845 deg,
      approach rate: -0.594604 m/s,
      LOS rate: 0.006195 deg/s,
      cmd heading: 326.981837 deg,
      new cmd heading: 326.989710 deg.

2025-06-05T16:51:13.325Z,1749142273.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707047 target range: 159.169876 and range: 160.50 m.
2025-06-05T16:51:13.658Z,1749142273.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:13.661Z,1749142273.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 155.348373 m,
      bearing: 340.251568 deg,
      approach rate: -0.782650 m/s,
      LOS rate: 0.016834 deg/s,
      cmd heading: 326.989706 deg,
      new cmd heading: 327.006903 deg.

2025-06-05T16:51:13.682Z,1749142273.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707347 target range: 159.169876 and range: 160.50 m.
2025-06-05T16:51:14.049Z,1749142274.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:14.056Z,1749142274.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:14.065Z,1749142274.065 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:14.065Z,1749142274.065 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:14.065Z,1749142274.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:14.071Z,1749142274.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 155.095978 m,
      bearing: 340.257204 deg,
      approach rate: -0.634059 m/s,
      LOS rate: 0.014183 deg/s,
      cmd heading: 327.006891 deg,
      new cmd heading: 327.023828 deg.

2025-06-05T16:51:14.072Z,1749142274.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707643 target range: 159.169876 and range: 160.50 m.
2025-06-05T16:51:14.315Z,1749142274.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004036
2025-06-05T16:51:14.458Z,1749142274.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:14.461Z,1749142274.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 154.819855 m,
      bearing: 340.263863 deg,
      approach rate: -0.687792 m/s,
      LOS rate: 0.016615 deg/s,
      cmd heading: 327.023829 deg,
      new cmd heading: 327.043840 deg.

2025-06-05T16:51:14.462Z,1749142274.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707992 target range: 159.169876 and range: 160.50 m.
2025-06-05T16:51:14.567Z,1749142274.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256143
2025-06-05T16:51:14.819Z,1749142274.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508041
2025-06-05T16:51:14.862Z,1749142274.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:14.869Z,1749142274.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 154.554184 m,
      bearing: 340.270241 deg,
      approach rate: -0.656793 m/s,
      LOS rate: 0.015795 deg/s,
      cmd heading: 327.043828 deg,
      new cmd heading: 327.062995 deg.

2025-06-05T16:51:14.873Z,1749142274.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708326 target range: 159.169876 and range: 160.50 m.
2025-06-05T16:51:15.072Z,1749142275.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760578
2025-06-05T16:51:15.257Z,1749142275.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:15.260Z,1749142275.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 154.299545 m,
      bearing: 340.276337 deg,
      approach rate: -0.645253 m/s,
      LOS rate: 0.015473 deg/s,
      cmd heading: 327.063007 deg,
      new cmd heading: 327.081326 deg.

2025-06-05T16:51:15.261Z,1749142275.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708646 target range: 159.169876 and range: 160.50 m.
2025-06-05T16:51:15.326Z,1749142275.326 [DAT](INFO): DAT read: Rx Time:16:51:14.0200

2025-06-05T16:51:15.328Z,1749142275.328 [DAT](INFO): Rx dataTimestamp_ set to:1749142275.326874
2025-06-05T16:51:15.331Z,1749142275.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018367
2025-06-05T16:51:15.575Z,1749142275.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264175
2025-06-05T16:51:15.690Z,1749142275.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:15.693Z,1749142275.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 154.014511 m,
      bearing: 340.284958 deg,
      approach rate: -0.658262 m/s,
      LOS rate: 0.019947 deg/s,
      cmd heading: 327.081312 deg,
      new cmd heading: 327.107224 deg.

2025-06-05T16:51:15.694Z,1749142275.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709098 target range: 159.169876 and range: 160.50 m.
2025-06-05T16:51:15.839Z,1749142275.839 [DAT](INFO): DAT read: 16:51:14.0200 LVL= 27312, 32753, 27762, 32755, AGC= 66, IDX= 411, 0.26,-0.606,-2.111,-1.070,-1.253, PHS= 0.735,-0.811, 0.180, RAW= 129.3,  -1.5, CAL= 135.1, -10.8, ROT=  14.9,  10.8

2025-06-05T16:51:15.842Z,1749142275.842 [DAT](INFO): got valid direction response:
 16:51:14.0200 LVL= 27312, 32753, 27762, 32755, AGC= 66, IDX= 411, 0.26,-0.606,-2.111,-1.070,-1.253, PHS= 0.735,-0.811, 0.180, RAW= 129.3,  -1.5, CAL= 135.1, -10.8, ROT=  14.9,  10.8

2025-06-05T16:51:15.844Z,1749142275.844 [DAT](INFO): DAT read: Bearing  14.9,  10.8 (Local)

2025-06-05T16:51:15.845Z,1749142275.845 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.9,  10.8 (Local)

2025-06-05T16:51:15.845Z,1749142275.845 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T16:51:15.846Z,1749142275.846 [DAT](INFO): direction in FSK: [0.949259,0.252578,-0.187381]
2025-06-05T16:51:15.849Z,1749142275.849 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:15.849Z,1749142275.849 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:15.849Z,1749142275.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:51:16.052Z,1749142276.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:16.055Z,1749142276.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:16.057Z,1749142276.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 153.778351 m,
      bearing: 340.292165 deg,
      approach rate: -0.646949 m/s,
      LOS rate: 0.019775 deg/s,
      cmd heading: 327.107212 deg,
      new cmd heading: 327.128868 deg.

2025-06-05T16:51:16.059Z,1749142276.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709476 target range: 159.169876 and range: 160.50 m.
2025-06-05T16:51:16.081Z,1749142276.081 [DAT](INFO): DAT read: Range 10 to 50 : 158.1 m  (Round-trip  210.8 ms) speed  0.6 m/s

2025-06-05T16:51:16.082Z,1749142276.082 [DAT](INFO): DAT read: user:2429>

2025-06-05T16:51:16.083Z,1749142276.083 [DAT](INFO): DAT read: Tx time:16:51:15.1050

2025-06-05T16:51:16.083Z,1749142276.083 [DAT](INFO): Ping request sent.
2025-06-05T16:51:16.083Z,1749142276.083 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:16.084Z,1749142276.084 [DAT](INFO): DAT read: TxSync time:16:51:15.1042

2025-06-05T16:51:16.084Z,1749142276.084 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-06-05T16:51:16.084Z,1749142276.084 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:16.085Z,1749142276.085 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:16.503Z,1749142276.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 158.100006 m,
      deltaT: 3.779763 s,
      deltaX: -2.399994 m,
      approachRate: -0.634959 m/s,
      rangeRepo size: 4

2025-06-05T16:51:16.503Z,1749142276.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:16.507Z,1749142276.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 153.493713 m,
      bearing: 340.302092 deg,
      approach rate: -0.636407 m/s,
      LOS rate: 0.022236 deg/s,
      cmd heading: 327.128878 deg,
      new cmd heading: 327.158714 deg.

2025-06-05T16:51:16.508Z,1749142276.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709997 target range: 159.169876 and range: 158.10 m.
2025-06-05T16:51:16.875Z,1749142276.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:16.878Z,1749142276.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 153.255508 m,
      bearing: 340.310650 deg,
      approach rate: -0.638554 m/s,
      LOS rate: 0.022977 deg/s,
      cmd heading: 327.158712 deg,
      new cmd heading: 327.184426 deg.

2025-06-05T16:51:16.879Z,1749142276.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710445 target range: 159.169876 and range: 158.10 m.
2025-06-05T16:51:17.402Z,1749142277.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:17.405Z,1749142277.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 152.929260 m,
      bearing: 340.322326 deg,
      approach rate: -0.623778 m/s,
      LOS rate: 0.022372 deg/s,
      cmd heading: 327.184421 deg,
      new cmd heading: 327.219524 deg.

2025-06-05T16:51:17.410Z,1749142277.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711058 target range: 159.169876 and range: 158.10 m.
2025-06-05T16:51:17.776Z,1749142277.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:17.787Z,1749142277.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 152.684143 m,
      bearing: 340.330797 deg,
      approach rate: -0.647684 m/s,
      LOS rate: 0.022419 deg/s,
      cmd heading: 327.219528 deg,
      new cmd heading: 327.244981 deg.

2025-06-05T16:51:17.788Z,1749142277.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711503 target range: 159.169876 and range: 158.10 m.
2025-06-05T16:51:18.125Z,1749142278.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:18.127Z,1749142278.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:18.149Z,1749142278.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 152.462677 m,
      bearing: 340.338478 deg,
      approach rate: -0.631414 m/s,
      LOS rate: 0.021930 deg/s,
      cmd heading: 327.244991 deg,
      new cmd heading: 327.268067 deg.

2025-06-05T16:51:18.154Z,1749142278.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711905 target range: 159.169876 and range: 158.10 m.
2025-06-05T16:51:18.350Z,1749142278.350 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:18.351Z,1749142278.351 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:18.352Z,1749142278.352 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:18.572Z,1749142278.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:18.575Z,1749142278.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 152.181915 m,
      bearing: 340.347118 deg,
      approach rate: -0.631222 m/s,
      LOS rate: 0.019460 deg/s,
      cmd heading: 327.268077 deg,
      new cmd heading: 327.294044 deg.

2025-06-05T16:51:18.576Z,1749142278.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712358 target range: 159.169876 and range: 158.10 m.
2025-06-05T16:51:18.599Z,1749142278.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515933
2025-06-05T16:51:18.851Z,1749142278.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767901
2025-06-05T16:51:18.955Z,1749142278.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:18.958Z,1749142278.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 151.940063 m,
      bearing: 340.354569 deg,
      approach rate: -0.631485 m/s,
      LOS rate: 0.019486 deg/s,
      cmd heading: 327.294032 deg,
      new cmd heading: 327.316420 deg.

2025-06-05T16:51:18.959Z,1749142278.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712749 target range: 159.169876 and range: 158.10 m.
2025-06-05T16:51:19.103Z,1749142279.103 [DAT](INFO): DAT read: Rx Time:16:51:17.7166

2025-06-05T16:51:19.104Z,1749142279.104 [DAT](INFO): Rx dataTimestamp_ set to:1749142279.103556
2025-06-05T16:51:19.104Z,1749142279.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021075
2025-06-05T16:51:19.357Z,1749142279.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273496
2025-06-05T16:51:19.408Z,1749142279.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.17 m.
2025-06-05T16:51:19.420Z,1749142279.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.169876 m,
      nav range: 151.669067 m,
      bearing: 340.362936 deg,
      approach rate: -0.597695 m/s,
      LOS rate: 0.018489 deg/s,
      cmd heading: 327.316407 deg,
      new cmd heading: 327.341556 deg.

2025-06-05T16:51:19.421Z,1749142279.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713188 target range: 159.169876 and range: 158.10 m.
2025-06-05T16:51:19.613Z,1749142279.613 [DAT](INFO): DAT read: 16:51:17.7166 LVL= 25536, 32753, 26418, 31315, AGC= 66, IDX= 409,-0.18, 2.407, 0.898, 1.948, 1.723, PHS= 0.772,-0.778, 0.223, RAW= 129.5,  -3.2, CAL= 135.0, -13.4, ROT=  15.0,  13.4

2025-06-05T16:51:19.615Z,1749142279.615 [DAT](INFO): got valid direction response:
 16:51:17.7166 LVL= 25536, 32753, 26418, 31315, AGC= 66, IDX= 409,-0.18, 2.407, 0.898, 1.948, 1.723, PHS= 0.772,-0.778, 0.223, RAW= 129.5,  -3.2, CAL= 135.0, -13.4, ROT=  15.0,  13.4

2025-06-05T16:51:19.616Z,1749142279.616 [DAT](INFO): DAT read: Bearing  15.0,  13.4 (Local)

2025-06-05T16:51:19.616Z,1749142279.616 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.0,  13.4 (Local)

2025-06-05T16:51:19.618Z,1749142279.618 [DAT](INFO): DAT read: Range 10 to 50 : 155.6 m  (Round-trip  207.5 ms) speed  0.4 m/s

2025-06-05T16:51:19.618Z,1749142279.618 [DAT](INFO): DAT read: user:2430>

2025-06-05T16:51:19.619Z,1749142279.619 [DAT](INFO): DAT read: Tx time:16:51:18.8050

2025-06-05T16:51:19.619Z,1749142279.619 [DAT](INFO): Ping request sent.
2025-06-05T16:51:19.619Z,1749142279.619 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:19.620Z,1749142279.620 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:51:19.621Z,1749142279.621 [DAT](INFO): direction in FSK: [0.939629,0.251773,-0.231748]
2025-06-05T16:51:19.621Z,1749142279.621 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:19.621Z,1749142279.621 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:19.630Z,1749142279.630 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:19.631Z,1749142279.631 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:19.849Z,1749142279.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.600006 m,
      deltaT: 3.527894 s,
      deltaX: -2.500000 m,
      approachRate: -0.708638 m/s,
      rangeRepo size: 4

2025-06-05T16:51:19.856Z,1749142279.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.307037 m,
      bearing: 343.035834 deg,
      lat: 36.906307 deg,
      lon: -122.115702 deg,
      deltaT: 7.307657 s,
      deltaX: -4.862839 m,
      approachRate: -0.665444 m/s,
      posRepo size: 4

2025-06-05T16:51:19.856Z,1749142279.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.31 m.
2025-06-05T16:51:19.859Z,1749142279.859 [DAT](INFO): DAT read: TxSync time:16:51:18.8042

2025-06-05T16:51:19.865Z,1749142279.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.307037 m,
      nav range: 150.304901 m,
      bearing: 342.869834 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018489 deg/s,
      cmd heading: 327.341542 deg,
      new cmd heading: 327.365949 deg.

2025-06-05T16:51:19.866Z,1749142279.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713614 target range: 154.307037 and range: 155.60 m.
2025-06-05T16:51:20.173Z,1749142280.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:20.175Z,1749142280.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.31 m.
2025-06-05T16:51:20.178Z,1749142280.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.307037 m,
      nav range: 150.080139 m,
      bearing: 342.881300 deg,
      approach rate: -0.688156 m/s,
      LOS rate: 0.035158 deg/s,
      cmd heading: 327.365940 deg,
      new cmd heading: 327.400389 deg.

2025-06-05T16:51:20.179Z,1749142280.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714215 target range: 154.307037 and range: 155.60 m.
2025-06-05T16:51:20.365Z,1749142280.365 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:20.366Z,1749142280.366 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:20.367Z,1749142280.367 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:20.595Z,1749142280.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.31 m.
2025-06-05T16:51:20.615Z,1749142280.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995878
2025-06-05T16:51:20.618Z,1749142280.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.307037 m,
      nav range: 149.807587 m,
      bearing: 342.894397 deg,
      approach rate: -0.648232 m/s,
      LOS rate: 0.031207 deg/s,
      cmd heading: 327.400391 deg,
      new cmd heading: 327.439755 deg.

2025-06-05T16:51:20.623Z,1749142280.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714902 target range: 154.307037 and range: 155.60 m.
2025-06-05T16:51:20.868Z,1749142280.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248204
2025-06-05T16:51:20.975Z,1749142280.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.31 m.
2025-06-05T16:51:20.978Z,1749142280.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.307037 m,
      nav range: 149.567184 m,
      bearing: 342.906022 deg,
      approach rate: -0.634880 m/s,
      LOS rate: 0.030750 deg/s,
      cmd heading: 327.439761 deg,
      new cmd heading: 327.474692 deg.

2025-06-05T16:51:20.979Z,1749142280.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715512 target range: 154.307037 and range: 155.60 m.
2025-06-05T16:51:21.119Z,1749142281.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499651
2025-06-05T16:51:21.375Z,1749142281.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754322
2025-06-05T16:51:21.451Z,1749142281.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.31 m.
2025-06-05T16:51:21.453Z,1749142281.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.307037 m,
      nav range: 149.258789 m,
      bearing: 342.920892 deg,
      approach rate: -0.651346 m/s,
      LOS rate: 0.031470 deg/s,
      cmd heading: 327.474704 deg,
      new cmd heading: 327.519405 deg.

2025-06-05T16:51:21.455Z,1749142281.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716292 target range: 154.307037 and range: 155.60 m.
2025-06-05T16:51:21.623Z,1749142281.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003642
2025-06-05T16:51:21.832Z,1749142281.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.31 m.
2025-06-05T16:51:21.842Z,1749142281.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.307037 m,
      nav range: 149.028152 m,
      bearing: 342.928845 deg,
      approach rate: -0.600305 m/s,
      LOS rate: 0.020734 deg/s,
      cmd heading: 327.519401 deg,
      new cmd heading: 327.543299 deg.

2025-06-05T16:51:21.848Z,1749142281.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716709 target range: 154.307037 and range: 155.60 m.
2025-06-05T16:51:21.875Z,1749142281.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255644
2025-06-05T16:51:22.127Z,1749142282.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507560
2025-06-05T16:51:22.187Z,1749142282.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:22.189Z,1749142282.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.31 m.
2025-06-05T16:51:22.192Z,1749142282.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.307037 m,
      nav range: 148.775604 m,
      bearing: 342.937492 deg,
      approach rate: -0.707688 m/s,
      LOS rate: 0.024270 deg/s,
      cmd heading: 327.543306 deg,
      new cmd heading: 327.569290 deg.

2025-06-05T16:51:22.193Z,1749142282.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717163 target range: 154.307037 and range: 155.60 m.
2025-06-05T16:51:22.382Z,1749142282.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762188
2025-06-05T16:51:22.612Z,1749142282.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.31 m.
2025-06-05T16:51:22.616Z,1749142282.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.307037 m,
      nav range: 148.495056 m,
      bearing: 342.945156 deg,
      approach rate: -0.662810 m/s,
      LOS rate: 0.018142 deg/s,
      cmd heading: 327.569288 deg,
      new cmd heading: 327.592325 deg.

2025-06-05T16:51:22.617Z,1749142282.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717565 target range: 154.307037 and range: 155.60 m.
2025-06-05T16:51:22.632Z,1749142282.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012118
2025-06-05T16:51:22.883Z,1749142282.883 [DAT](INFO): DAT read: Rx Time:16:51:21.4135

2025-06-05T16:51:22.884Z,1749142282.884 [DAT](INFO): Rx dataTimestamp_ set to:1749142282.883498
2025-06-05T16:51:22.884Z,1749142282.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264817
2025-06-05T16:51:23.010Z,1749142283.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.31 m.
2025-06-05T16:51:23.013Z,1749142283.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.307037 m,
      nav range: 148.237885 m,
      bearing: 342.952157 deg,
      approach rate: -0.646386 m/s,
      LOS rate: 0.017625 deg/s,
      cmd heading: 327.592320 deg,
      new cmd heading: 327.613357 deg.

2025-06-05T16:51:23.015Z,1749142283.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717932 target range: 154.307037 and range: 155.60 m.
2025-06-05T16:51:23.135Z,1749142283.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515816
2025-06-05T16:51:23.429Z,1749142283.429 [DAT](INFO): DAT read: 16:51:21.4135 LVL= 32752, 32753, 28994, 32755, AGC= 67, IDX= 408, 0.24, 1.626, 0.215, 1.257, 0.987, PHS= 0.727,-0.726, 0.266, RAW= 131.9,  -4.2, CAL= 137.3, -14.7, ROT=  12.7,  14.7

2025-06-05T16:51:23.441Z,1749142283.441 [DAT](INFO): got valid direction response:
 16:51:21.4135 LVL= 32752, 32753, 28994, 32755, AGC= 67, IDX= 408, 0.24, 1.626, 0.215, 1.257, 0.987, PHS= 0.727,-0.726, 0.266, RAW= 131.9,  -4.2, CAL= 137.3, -14.7, ROT=  12.7,  14.7

2025-06-05T16:51:23.453Z,1749142283.453 [DAT](INFO): DAT read: Bearing  12.7,  14.7 (Local)

2025-06-05T16:51:23.467Z,1749142283.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.7,  14.7 (Local)

2025-06-05T16:51:23.469Z,1749142283.469 [DAT](INFO): DAT read: Range 10 to 50 : 153.1 m  (Round-trip  204.2 ms) speed  1.0 m/s

2025-06-05T16:51:23.469Z,1749142283.469 [DAT](INFO): DAT read: user:2431>

2025-06-05T16:51:23.499Z,1749142283.499 [DAT](INFO): DAT read: Tx time:16:51:22.5051

2025-06-05T16:51:23.499Z,1749142283.499 [DAT](INFO): Ping request sent.
2025-06-05T16:51:23.499Z,1749142283.499 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:23.500Z,1749142283.500 [DAT](INFO): DAT read: TxSync time:16:51:22.5043

2025-06-05T16:51:23.500Z,1749142283.500 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:51:23.501Z,1749142283.501 [DAT](INFO): direction in FSK: [0.943603,0.212650,-0.253758]
2025-06-05T16:51:23.502Z,1749142283.502 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:23.502Z,1749142283.502 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:23.511Z,1749142283.511 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:51:23.548Z,1749142283.548 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:23.548Z,1749142283.548 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:23.671Z,1749142283.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.100006 m,
      deltaT: 3.782052 s,
      deltaX: -2.500000 m,
      approachRate: -0.661017 m/s,
      rangeRepo size: 4

2025-06-05T16:51:23.674Z,1749142283.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 151.821915 m,
      bearing: 341.082223 deg,
      lat: 36.906307 deg,
      lon: -122.115702 deg,
      deltaT: 3.782052 s,
      deltaX: -2.485123 m,
      approachRate: -0.657083 m/s,
      posRepo size: 4

2025-06-05T16:51:23.679Z,1749142283.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.82 m.
2025-06-05T16:51:23.695Z,1749142283.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.821915 m,
      nav range: 147.809372 m,
      bearing: 342.960071 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017625 deg/s,
      cmd heading: 327.613357 deg,
      new cmd heading: 327.648070 deg.

2025-06-05T16:51:23.702Z,1749142283.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718538 target range: 151.821915 and range: 153.10 m.
2025-06-05T16:51:24.008Z,1749142284.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.82 m.
2025-06-05T16:51:24.011Z,1749142284.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.821915 m,
      nav range: 147.566879 m,
      bearing: 342.964750 deg,
      approach rate: -0.709865 m/s,
      LOS rate: 0.013722 deg/s,
      cmd heading: 327.648081 deg,
      new cmd heading: 327.662144 deg.

2025-06-05T16:51:24.012Z,1749142284.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718783 target range: 151.821915 and range: 153.10 m.
2025-06-05T16:51:24.493Z,1749142284.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:24.496Z,1749142284.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.82 m.
2025-06-05T16:51:24.500Z,1749142284.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.821915 m,
      nav range: 147.242203 m,
      bearing: 342.969365 deg,
      approach rate: -0.665536 m/s,
      LOS rate: 0.009480 deg/s,
      cmd heading: 327.662152 deg,
      new cmd heading: 327.676026 deg.

2025-06-05T16:51:24.501Z,1749142284.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719026 target range: 151.821915 and range: 153.10 m.
2025-06-05T16:51:24.515Z,1749142284.515 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:51:24.648Z,1749142284.648 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:24.648Z,1749142284.648 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:24.649Z,1749142284.649 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:24.835Z,1749142284.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.82 m.
2025-06-05T16:51:24.839Z,1749142284.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.821915 m,
      nav range: 147.016327 m,
      bearing: 342.972452 deg,
      approach rate: -0.664845 m/s,
      LOS rate: 0.009100 deg/s,
      cmd heading: 327.676030 deg,
      new cmd heading: 327.685306 deg.

2025-06-05T16:51:24.840Z,1749142284.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719187 target range: 151.821915 and range: 153.10 m.
2025-06-05T16:51:24.900Z,1749142284.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.400651
2025-06-05T16:51:25.155Z,1749142285.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.655405
2025-06-05T16:51:25.239Z,1749142285.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.82 m.
2025-06-05T16:51:25.246Z,1749142285.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.821915 m,
      nav range: 146.763458 m,
      bearing: 342.975642 deg,
      approach rate: -0.634752 m/s,
      LOS rate: 0.008023 deg/s,
      cmd heading: 327.685292 deg,
      new cmd heading: 327.694881 deg.

2025-06-05T16:51:25.248Z,1749142285.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719355 target range: 151.821915 and range: 153.10 m.
2025-06-05T16:51:25.405Z,1749142285.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.905585
2025-06-05T16:51:25.643Z,1749142285.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.82 m.
2025-06-05T16:51:25.645Z,1749142285.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.821915 m,
      nav range: 146.483170 m,
      bearing: 342.978254 deg,
      approach rate: -0.686378 m/s,
      LOS rate: 0.006409 deg/s,
      cmd heading: 327.694882 deg,
      new cmd heading: 327.702733 deg.

2025-06-05T16:51:25.652Z,1749142285.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719491 target range: 151.821915 and range: 153.10 m.
2025-06-05T16:51:25.655Z,1749142285.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.155849
2025-06-05T16:51:25.907Z,1749142285.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.407908
2025-06-05T16:51:26.013Z,1749142286.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.82 m.
2025-06-05T16:51:26.016Z,1749142286.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.821915 m,
      nav range: 146.220779 m,
      bearing: 342.980489 deg,
      approach rate: -0.706838 m/s,
      LOS rate: 0.006030 deg/s,
      cmd heading: 327.702723 deg,
      new cmd heading: 327.709439 deg.

2025-06-05T16:51:26.017Z,1749142286.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719609 target range: 151.821915 and range: 153.10 m.
2025-06-05T16:51:26.161Z,1749142286.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.661027
2025-06-05T16:51:26.411Z,1749142286.411 [DAT](INFO): DAT read: Rx Time:16:51:25.1104

2025-06-05T16:51:26.412Z,1749142286.412 [DAT](INFO): Rx dataTimestamp_ set to:1749142286.411418
2025-06-05T16:51:26.412Z,1749142286.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.912991
2025-06-05T16:51:26.494Z,1749142286.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:26.517Z,1749142286.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.82 m.
2025-06-05T16:51:26.540Z,1749142286.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.821915 m,
      nav range: 145.917419 m,
      bearing: 342.982963 deg,
      approach rate: -0.602686 m/s,
      LOS rate: 0.004926 deg/s,
      cmd heading: 327.709444 deg,
      new cmd heading: 327.716882 deg.

2025-06-05T16:51:26.547Z,1749142286.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719738 target range: 151.821915 and range: 153.10 m.
2025-06-05T16:51:26.665Z,1749142286.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.165605
2025-06-05T16:51:26.928Z,1749142286.928 [DAT](INFO): DAT read: 16:51:25.1104 LVL= 25440, 30801, 23138, 32755, AGC= 65, IDX= 407, 0.23, 2.644, 1.295, 2.318, 2.052, PHS= 0.681,-0.710, 0.264, RAW= 133.0,  -3.8, CAL= 138.5, -14.1, ROT=  11.5,  14.1

2025-06-05T16:51:26.939Z,1749142286.939 [DAT](INFO): got valid direction response:
 16:51:25.1104 LVL= 25440, 30801, 23138, 32755, AGC= 65, IDX= 407, 0.23, 2.644, 1.295, 2.318, 2.052, PHS= 0.681,-0.710, 0.264, RAW= 133.0,  -3.8, CAL= 138.5, -14.1, ROT=  11.5,  14.1

2025-06-05T16:51:26.940Z,1749142286.940 [DAT](INFO): DAT read: Bearing  11.5,  14.1 (Local)

2025-06-05T16:51:26.940Z,1749142286.940 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.5,  14.1 (Local)

2025-06-05T16:51:26.941Z,1749142286.941 [DAT](INFO): DAT read: Range 10 to 50 : 150.8 m  (Round-trip  201.1 ms) speed  0.8 m/s

2025-06-05T16:51:26.944Z,1749142286.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.82 m.
2025-06-05T16:51:26.950Z,1749142286.950 [DAT](INFO): DAT read: user:2432>

2025-06-05T16:51:26.951Z,1749142286.951 [DAT](INFO): DAT read: Tx time:16:51:26.2051

2025-06-05T16:51:26.951Z,1749142286.951 [DAT](INFO): Ping request sent.
2025-06-05T16:51:26.952Z,1749142286.952 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:26.952Z,1749142286.952 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:51:26.953Z,1749142286.953 [DAT](INFO): direction in FSK: [0.950402,0.193361,-0.243615]
2025-06-05T16:51:26.953Z,1749142286.953 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:26.953Z,1749142286.953 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:26.955Z,1749142286.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.821915 m,
      nav range: 145.636322 m,
      bearing: 342.986823 deg,
      approach rate: -0.658655 m/s,
      LOS rate: 0.009060 deg/s,
      cmd heading: 327.716875 deg,
      new cmd heading: 327.728475 deg.

2025-06-05T16:51:26.956Z,1749142286.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719941 target range: 151.821915 and range: 153.10 m.
2025-06-05T16:51:26.966Z,1749142286.966 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:26.974Z,1749142286.974 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:27.168Z,1749142287.168 [DAT](INFO): DAT read: TxSync time:16:51:26.2043

2025-06-05T16:51:27.283Z,1749142287.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 150.800003 m,
      deltaT: 3.527329 s,
      deltaX: -2.300003 m,
      approachRate: -0.652052 m/s,
      rangeRepo size: 4

2025-06-05T16:51:27.285Z,1749142287.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 149.546204 m,
      bearing: 340.447022 deg,
      lat: 36.906298 deg,
      lon: -122.115752 deg,
      deltaT: 3.527329 s,
      deltaX: -2.275711 m,
      approachRate: -0.645166 m/s,
      posRepo size: 4

2025-06-05T16:51:27.291Z,1749142287.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:27.293Z,1749142287.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 145.767715 m,
      bearing: 341.181966 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009060 deg/s,
      cmd heading: 327.728486 deg,
      new cmd heading: 327.737588 deg.

2025-06-05T16:51:27.299Z,1749142287.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720100 target range: 149.546204 and range: 150.80 m.
2025-06-05T16:51:27.684Z,1749142287.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:27.711Z,1749142287.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 145.484436 m,
      bearing: 341.183783 deg,
      approach rate: -0.698633 m/s,
      LOS rate: 0.004491 deg/s,
      cmd heading: 327.737584 deg,
      new cmd heading: 327.743047 deg.

2025-06-05T16:51:27.712Z,1749142287.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720195 target range: 149.546204 and range: 150.80 m.
2025-06-05T16:51:28.059Z,1749142288.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:28.062Z,1749142288.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 145.230026 m,
      bearing: 341.185396 deg,
      approach rate: -0.677788 m/s,
      LOS rate: 0.004305 deg/s,
      cmd heading: 327.743048 deg,
      new cmd heading: 327.747896 deg.

2025-06-05T16:51:28.063Z,1749142288.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720280 target range: 149.546204 and range: 150.80 m.
2025-06-05T16:51:28.559Z,1749142288.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:28.561Z,1749142288.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:28.566Z,1749142288.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 144.915451 m,
      bearing: 341.187388 deg,
      approach rate: -0.627105 m/s,
      LOS rate: 0.003980 deg/s,
      cmd heading: 327.747884 deg,
      new cmd heading: 327.753873 deg.

2025-06-05T16:51:28.568Z,1749142288.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720384 target range: 149.546204 and range: 150.80 m.
2025-06-05T16:51:28.679Z,1749142288.679 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:28.679Z,1749142288.679 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:28.679Z,1749142288.679 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:28.932Z,1749142288.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980613
2025-06-05T16:51:28.939Z,1749142288.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:28.941Z,1749142288.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 144.642487 m,
      bearing: 341.191848 deg,
      approach rate: -0.722293 m/s,
      LOS rate: 0.011824 deg/s,
      cmd heading: 327.753867 deg,
      new cmd heading: 327.767273 deg.

2025-06-05T16:51:28.943Z,1749142288.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720618 target range: 149.546204 and range: 150.80 m.
2025-06-05T16:51:29.183Z,1749142289.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231630
2025-06-05T16:51:29.301Z,1749142289.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:29.304Z,1749142289.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 144.400391 m,
      bearing: 341.195741 deg,
      approach rate: -0.668345 m/s,
      LOS rate: 0.010765 deg/s,
      cmd heading: 327.767282 deg,
      new cmd heading: 327.778980 deg.

2025-06-05T16:51:29.305Z,1749142289.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720822 target range: 149.546204 and range: 150.80 m.
2025-06-05T16:51:29.435Z,1749142289.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483593
2025-06-05T16:51:29.687Z,1749142289.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735508
2025-06-05T16:51:29.777Z,1749142289.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:29.782Z,1749142289.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 144.094879 m,
      bearing: 341.202758 deg,
      approach rate: -0.641674 m/s,
      LOS rate: 0.014768 deg/s,
      cmd heading: 327.778975 deg,
      new cmd heading: 327.800070 deg.

2025-06-05T16:51:29.783Z,1749142289.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721190 target range: 149.546204 and range: 150.80 m.
2025-06-05T16:51:29.939Z,1749142289.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987692
2025-06-05T16:51:30.105Z,1749142290.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:30.108Z,1749142290.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 143.876129 m,
      bearing: 341.207790 deg,
      approach rate: -0.666719 m/s,
      LOS rate: 0.015360 deg/s,
      cmd heading: 327.800067 deg,
      new cmd heading: 327.815186 deg.

2025-06-05T16:51:30.109Z,1749142290.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721454 target range: 149.546204 and range: 150.80 m.
2025-06-05T16:51:30.195Z,1749142290.195 [DAT](INFO): DAT read: Rx Time:16:51:28.8070

2025-06-05T16:51:30.195Z,1749142290.195 [DAT](INFO): Rx dataTimestamp_ set to:1749142290.194733
2025-06-05T16:51:30.196Z,1749142290.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244296
2025-06-05T16:51:30.443Z,1749142290.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491563
2025-06-05T16:51:30.622Z,1749142290.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:30.624Z,1749142290.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:30.627Z,1749142290.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 143.542191 m,
      bearing: 341.219995 deg,
      approach rate: -0.643620 m/s,
      LOS rate: 0.023578 deg/s,
      cmd heading: 327.815175 deg,
      new cmd heading: 327.851874 deg.

2025-06-05T16:51:30.628Z,1749142290.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722095 target range: 149.546204 and range: 150.80 m.
2025-06-05T16:51:30.697Z,1749142290.697 [DAT](INFO): DAT read: Range 10 to 50 : 148.2 m  (Round-trip  197.7 ms) speed  0.5 m/s

2025-06-05T16:51:30.699Z,1749142290.699 [DAT](INFO): DAT read: user:2433>

2025-06-05T16:51:30.699Z,1749142290.699 [DAT](INFO): DAT read: Tx time:16:51:29.9051

2025-06-05T16:51:30.700Z,1749142290.700 [DAT](INFO): Ping request sent.
2025-06-05T16:51:30.700Z,1749142290.700 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:30.700Z,1749142290.700 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:51:30.700Z,1749142290.700 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:30.701Z,1749142290.701 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:30.948Z,1749142290.948 [DAT](INFO): DAT read: TxSync time:16:51:29.9043

2025-06-05T16:51:30.989Z,1749142290.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.199997 m,
      deltaT: 3.778853 s,
      deltaX: -2.600006 m,
      approachRate: -0.688041 m/s,
      rangeRepo size: 4

2025-06-05T16:51:30.989Z,1749142290.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:31.000Z,1749142291.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 143.303787 m,
      bearing: 341.228743 deg,
      approach rate: -0.655183 m/s,
      LOS rate: 0.024081 deg/s,
      cmd heading: 327.851867 deg,
      new cmd heading: 327.878154 deg.

2025-06-05T16:51:31.002Z,1749142291.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722553 target range: 149.546204 and range: 148.20 m.
2025-06-05T16:51:31.444Z,1749142291.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:31.448Z,1749142291.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 143.006348 m,
      bearing: 341.239989 deg,
      approach rate: -0.652583 m/s,
      LOS rate: 0.024726 deg/s,
      cmd heading: 327.878149 deg,
      new cmd heading: 327.911959 deg.

2025-06-05T16:51:31.449Z,1749142291.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723144 target range: 149.546204 and range: 148.20 m.
2025-06-05T16:51:31.869Z,1749142291.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:31.888Z,1749142291.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 142.733521 m,
      bearing: 341.250346 deg,
      approach rate: -0.641809 m/s,
      LOS rate: 0.024411 deg/s,
      cmd heading: 327.911973 deg,
      new cmd heading: 327.943103 deg.

2025-06-05T16:51:31.889Z,1749142291.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723687 target range: 149.546204 and range: 148.20 m.
2025-06-05T16:51:32.327Z,1749142292.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:32.335Z,1749142292.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 142.442642 m,
      bearing: 341.261759 deg,
      approach rate: -0.634147 m/s,
      LOS rate: 0.024932 deg/s,
      cmd heading: 327.943091 deg,
      new cmd heading: 327.977400 deg.

2025-06-05T16:51:32.336Z,1749142292.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724286 target range: 149.546204 and range: 148.20 m.
2025-06-05T16:51:32.709Z,1749142292.709 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:32.711Z,1749142292.711 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:32.711Z,1749142292.711 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:32.712Z,1749142292.712 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:32.715Z,1749142292.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:32.719Z,1749142292.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 142.183777 m,
      bearing: 341.271866 deg,
      approach rate: -0.667275 m/s,
      LOS rate: 0.026101 deg/s,
      cmd heading: 327.977406 deg,
      new cmd heading: 328.007783 deg.

2025-06-05T16:51:32.720Z,1749142292.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724816 target range: 149.546204 and range: 148.20 m.
2025-06-05T16:51:32.965Z,1749142292.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264769
2025-06-05T16:51:33.157Z,1749142293.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:33.160Z,1749142293.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 141.914017 m,
      bearing: 341.282342 deg,
      approach rate: -0.611080 m/s,
      LOS rate: 0.023775 deg/s,
      cmd heading: 328.007786 deg,
      new cmd heading: 328.039273 deg.

2025-06-05T16:51:33.161Z,1749142293.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725365 target range: 149.546204 and range: 148.20 m.
2025-06-05T16:51:33.218Z,1749142293.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517267
2025-06-05T16:51:33.467Z,1749142293.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767193
2025-06-05T16:51:33.535Z,1749142293.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:33.561Z,1749142293.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 141.670685 m,
      bearing: 341.291749 deg,
      approach rate: -0.653305 m/s,
      LOS rate: 0.025300 deg/s,
      cmd heading: 328.039260 deg,
      new cmd heading: 328.067530 deg.

2025-06-05T16:51:33.575Z,1749142293.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725859 target range: 149.546204 and range: 148.20 m.
2025-06-05T16:51:33.719Z,1749142293.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019491
2025-06-05T16:51:33.965Z,1749142293.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:33.971Z,1749142293.971 [DAT](INFO): DAT read: Rx Time:16:51:32.5039

2025-06-05T16:51:33.972Z,1749142293.972 [DAT](INFO): Rx dataTimestamp_ set to:1749142293.971591
2025-06-05T16:51:33.972Z,1749142293.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272643
2025-06-05T16:51:33.978Z,1749142293.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 141.406586 m,
      bearing: 341.305283 deg,
      approach rate: -0.607967 m/s,
      LOS rate: 0.031214 deg/s,
      cmd heading: 328.067537 deg,
      new cmd heading: 328.108215 deg.

2025-06-05T16:51:33.987Z,1749142293.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726569 target range: 149.546204 and range: 148.20 m.
2025-06-05T16:51:34.224Z,1749142294.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524002
2025-06-05T16:51:34.348Z,1749142294.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.55 m.
2025-06-05T16:51:34.351Z,1749142294.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.546204 m,
      nav range: 141.158585 m,
      bearing: 341.317932 deg,
      approach rate: -0.645263 m/s,
      LOS rate: 0.032969 deg/s,
      cmd heading: 328.108218 deg,
      new cmd heading: 328.146231 deg.

2025-06-05T16:51:34.352Z,1749142294.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727232 target range: 149.546204 and range: 148.20 m.
2025-06-05T16:51:34.482Z,1749142294.482 [DAT](INFO): DAT read: 16:51:32.5039 LVL= 19568, 28881, 17906, 27443, AGC= 68, IDX= 404,-0.25, 0.434,-0.880, 0.157,-0.104, PHS= 0.626,-0.729, 0.258, RAW= 134.8,  -2.6, CAL= 140.2, -12.3, ROT=   9.8,  12.3

2025-06-05T16:51:34.483Z,1749142294.483 [DAT](INFO): got valid direction response:
 16:51:32.5039 LVL= 19568, 28881, 17906, 27443, AGC= 68, IDX= 404,-0.25, 0.434,-0.880, 0.157,-0.104, PHS= 0.626,-0.729, 0.258, RAW= 134.8,  -2.6, CAL= 140.2, -12.3, ROT=   9.8,  12.3

2025-06-05T16:51:34.484Z,1749142294.484 [DAT](INFO): DAT read: Bearing   9.8,  12.3 (Local)

2025-06-05T16:51:34.484Z,1749142294.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.8,  12.3 (Local)

2025-06-05T16:51:34.486Z,1749142294.486 [DAT](INFO): DAT read: Range 10 to 50 : 145.8 m  (Round-trip  194.5 ms) speed  0.7 m/s

2025-06-05T16:51:34.487Z,1749142294.487 [DAT](INFO): DAT read: user:2434>

2025-06-05T16:51:34.487Z,1749142294.487 [DAT](INFO): DAT read: Tx time:16:51:33.6052

2025-06-05T16:51:34.487Z,1749142294.487 [DAT](INFO): Ping request sent.
2025-06-05T16:51:34.488Z,1749142294.488 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:34.488Z,1749142294.488 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:51:34.489Z,1749142294.489 [DAT](INFO): direction in FSK: [0.962788,0.166302,-0.213030]
2025-06-05T16:51:34.489Z,1749142294.489 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:34.489Z,1749142294.489 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:34.497Z,1749142294.497 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:34.497Z,1749142294.497 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:34.727Z,1749142294.727 [DAT](INFO): DAT read: TxSync time:16:51:33.6044

2025-06-05T16:51:34.782Z,1749142294.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.800003 m,
      deltaT: 3.779992 s,
      deltaX: -2.399994 m,
      approachRate: -0.634920 m/s,
      rangeRepo size: 4

2025-06-05T16:51:34.788Z,1749142294.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 144.592056 m,
      bearing: 338.550537 deg,
      lat: 36.906291 deg,
      lon: -122.115752 deg,
      deltaT: 7.558845 s,
      deltaX: -4.954147 m,
      approachRate: -0.655411 m/s,
      posRepo size: 4

2025-06-05T16:51:34.789Z,1749142294.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:34.796Z,1749142294.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 140.160355 m,
      bearing: 341.225759 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.032969 deg/s,
      cmd heading: 328.146221 deg,
      new cmd heading: 328.189001 deg.

2025-06-05T16:51:34.806Z,1749142294.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727979 target range: 144.592056 and range: 145.80 m.
2025-06-05T16:51:35.117Z,1749142295.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:35.120Z,1749142295.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:35.123Z,1749142295.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 139.940872 m,
      bearing: 341.235465 deg,
      approach rate: -0.647502 m/s,
      LOS rate: 0.028681 deg/s,
      cmd heading: 328.189005 deg,
      new cmd heading: 328.218171 deg.

2025-06-05T16:51:35.123Z,1749142295.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728488 target range: 144.592056 and range: 145.80 m.
2025-06-05T16:51:35.231Z,1749142295.231 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:35.231Z,1749142295.231 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:35.232Z,1749142295.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:35.483Z,1749142295.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995684
2025-06-05T16:51:35.539Z,1749142295.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:35.543Z,1749142295.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 139.687500 m,
      bearing: 341.246572 deg,
      approach rate: -0.605940 m/s,
      LOS rate: 0.026611 deg/s,
      cmd heading: 328.218184 deg,
      new cmd heading: 328.251565 deg.

2025-06-05T16:51:35.545Z,1749142295.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729071 target range: 144.592056 and range: 145.80 m.
2025-06-05T16:51:35.736Z,1749142295.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248007
2025-06-05T16:51:35.978Z,1749142295.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:35.987Z,1749142295.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499786
2025-06-05T16:51:35.988Z,1749142295.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 139.418869 m,
      bearing: 341.255360 deg,
      approach rate: -0.615746 m/s,
      LOS rate: 0.020182 deg/s,
      cmd heading: 328.251570 deg,
      new cmd heading: 328.277984 deg.

2025-06-05T16:51:35.989Z,1749142295.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729532 target range: 144.592056 and range: 145.80 m.
2025-06-05T16:51:36.239Z,1749142296.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751399
2025-06-05T16:51:36.352Z,1749142296.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:36.355Z,1749142296.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 139.189590 m,
      bearing: 341.262722 deg,
      approach rate: -0.606446 m/s,
      LOS rate: 0.019502 deg/s,
      cmd heading: 328.277989 deg,
      new cmd heading: 328.300108 deg.

2025-06-05T16:51:36.356Z,1749142296.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729918 target range: 144.592056 and range: 145.80 m.
2025-06-05T16:51:36.493Z,1749142296.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005194
2025-06-05T16:51:36.743Z,1749142296.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255616
2025-06-05T16:51:36.774Z,1749142296.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:36.777Z,1749142296.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 138.918259 m,
      bearing: 341.267552 deg,
      approach rate: -0.643024 m/s,
      LOS rate: 0.011470 deg/s,
      cmd heading: 328.300119 deg,
      new cmd heading: 328.314639 deg.

2025-06-05T16:51:36.778Z,1749142296.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730171 target range: 144.592056 and range: 145.80 m.
2025-06-05T16:51:36.997Z,1749142296.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509187
2025-06-05T16:51:37.211Z,1749142297.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:37.213Z,1749142297.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:37.216Z,1749142297.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 138.643890 m,
      bearing: 341.272260 deg,
      approach rate: -0.625375 m/s,
      LOS rate: 0.010751 deg/s,
      cmd heading: 328.314626 deg,
      new cmd heading: 328.328776 deg.

2025-06-05T16:51:37.217Z,1749142297.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730418 target range: 144.592056 and range: 145.80 m.
2025-06-05T16:51:37.249Z,1749142297.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760723
2025-06-05T16:51:37.499Z,1749142297.499 [DAT](INFO): DAT read: Rx Time:16:51:36.2009

2025-06-05T16:51:37.500Z,1749142297.500 [DAT](INFO): Rx dataTimestamp_ set to:1749142297.499650
2025-06-05T16:51:37.500Z,1749142297.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012868
2025-06-05T16:51:37.674Z,1749142297.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:37.677Z,1749142297.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 138.392303 m,
      bearing: 341.276524 deg,
      approach rate: -0.550216 m/s,
      LOS rate: 0.009342 deg/s,
      cmd heading: 328.328778 deg,
      new cmd heading: 328.341593 deg.

2025-06-05T16:51:37.678Z,1749142297.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730642 target range: 144.592056 and range: 145.80 m.
2025-06-05T16:51:37.752Z,1749142297.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264425
2025-06-05T16:51:38.004Z,1749142298.004 [DAT](INFO): DAT read: Range 10 to 50 : 143.7 m  (Round-trip  191.6 ms) speed  0.6 m/s

2025-06-05T16:51:38.005Z,1749142298.005 [DAT](INFO): DAT read: user:2435>

2025-06-05T16:51:38.005Z,1749142298.005 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:51:38.006Z,1749142298.006 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:38.006Z,1749142298.006 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:38.006Z,1749142298.006 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:38.055Z,1749142298.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.699997 m,
      deltaT: 3.528107 s,
      deltaX: -2.100006 m,
      approachRate: -0.595222 m/s,
      rangeRepo size: 4

2025-06-05T16:51:38.056Z,1749142298.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:38.064Z,1749142298.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 138.126038 m,
      bearing: 341.278219 deg,
      approach rate: -0.700849 m/s,
      LOS rate: 0.004472 deg/s,
      cmd heading: 328.341591 deg,
      new cmd heading: 328.346688 deg.

2025-06-05T16:51:38.065Z,1749142298.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730731 target range: 144.592056 and range: 143.70 m.
2025-06-05T16:51:38.259Z,1749142298.259 [DAT](INFO): DAT read: Tx time:16:51:37.3052

2025-06-05T16:51:38.259Z,1749142298.259 [DAT](INFO): Ping request sent.
2025-06-05T16:51:38.259Z,1749142298.259 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:38.260Z,1749142298.260 [DAT](INFO): DAT read: TxSync time:16:51:37.3044

2025-06-05T16:51:38.260Z,1749142298.260 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:38.261Z,1749142298.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001559
2025-06-05T16:51:38.412Z,1749142298.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:38.420Z,1749142298.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 137.897079 m,
      bearing: 341.279644 deg,
      approach rate: -0.632654 m/s,
      LOS rate: 0.003943 deg/s,
      cmd heading: 328.346700 deg,
      new cmd heading: 328.350981 deg.

2025-06-05T16:51:38.421Z,1749142298.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730806 target range: 144.592056 and range: 143.70 m.
2025-06-05T16:51:38.508Z,1749142298.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248375
2025-06-05T16:51:38.761Z,1749142298.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501494
2025-06-05T16:51:38.820Z,1749142298.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:38.823Z,1749142298.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 137.623016 m,
      bearing: 341.277755 deg,
      approach rate: -0.670617 m/s,
      LOS rate: -0.004631 deg/s,
      cmd heading: 328.350990 deg,
      new cmd heading: 328.345312 deg.

2025-06-05T16:51:38.824Z,1749142298.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730707 target range: 144.592056 and range: 143.70 m.
2025-06-05T16:51:39.011Z,1749142299.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751887
2025-06-05T16:51:39.172Z,1749142299.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:39.175Z,1749142299.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 137.393539 m,
      bearing: 341.276441 deg,
      approach rate: -0.653116 m/s,
      LOS rate: -0.003746 deg/s,
      cmd heading: 328.345307 deg,
      new cmd heading: 328.341358 deg.

2025-06-05T16:51:39.176Z,1749142299.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730638 target range: 144.592056 and range: 143.70 m.
2025-06-05T16:51:39.266Z,1749142299.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006066
2025-06-05T16:51:39.515Z,1749142299.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255879
2025-06-05T16:51:39.588Z,1749142299.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:39.590Z,1749142299.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:39.593Z,1749142299.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 137.119904 m,
      bearing: 341.275037 deg,
      approach rate: -0.654514 m/s,
      LOS rate: -0.003367 deg/s,
      cmd heading: 328.341346 deg,
      new cmd heading: 328.337123 deg.

2025-06-05T16:51:39.594Z,1749142299.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730564 target range: 144.592056 and range: 143.70 m.
2025-06-05T16:51:39.767Z,1749142299.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507892
2025-06-05T16:51:40.019Z,1749142300.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759694
2025-06-05T16:51:40.022Z,1749142300.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:40.025Z,1749142300.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 136.845016 m,
      bearing: 341.273802 deg,
      approach rate: -0.636736 m/s,
      LOS rate: -0.002865 deg/s,
      cmd heading: 328.337111 deg,
      new cmd heading: 328.333401 deg.

2025-06-05T16:51:40.026Z,1749142300.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730499 target range: 144.592056 and range: 143.70 m.
2025-06-05T16:51:40.272Z,1749142300.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012480
2025-06-05T16:51:40.387Z,1749142300.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:40.391Z,1749142300.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 136.589493 m,
      bearing: 341.272470 deg,
      approach rate: -0.699413 m/s,
      LOS rate: -0.003654 deg/s,
      cmd heading: 328.333395 deg,
      new cmd heading: 328.329390 deg.

2025-06-05T16:51:40.394Z,1749142300.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730429 target range: 144.592056 and range: 143.70 m.
2025-06-05T16:51:40.525Z,1749142300.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265252
2025-06-05T16:51:40.775Z,1749142300.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515869
2025-06-05T16:51:40.829Z,1749142300.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:40.836Z,1749142300.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 136.307144 m,
      bearing: 341.271490 deg,
      approach rate: -0.639207 m/s,
      LOS rate: -0.002224 deg/s,
      cmd heading: 328.329379 deg,
      new cmd heading: 328.326432 deg.

2025-06-05T16:51:40.837Z,1749142300.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730377 target range: 144.592056 and range: 143.70 m.
2025-06-05T16:51:41.028Z,1749142301.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769153
2025-06-05T16:51:41.198Z,1749142301.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:41.201Z,1749142301.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 136.047333 m,
      bearing: 341.270436 deg,
      approach rate: -0.706293 m/s,
      LOS rate: -0.002869 deg/s,
      cmd heading: 328.326428 deg,
      new cmd heading: 328.323263 deg.

2025-06-05T16:51:41.203Z,1749142301.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730322 target range: 144.592056 and range: 143.70 m.
2025-06-05T16:51:41.279Z,1749142301.279 [DAT](INFO): DAT read: Rx Time:16:51:39.8975

2025-06-05T16:51:41.280Z,1749142301.280 [DAT](INFO): Rx dataTimestamp_ set to:1749142301.279573
2025-06-05T16:51:41.281Z,1749142301.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021608
2025-06-05T16:51:41.532Z,1749142301.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272711
2025-06-05T16:51:41.600Z,1749142301.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:41.602Z,1749142301.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:41.605Z,1749142301.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 135.777069 m,
      bearing: 341.269220 deg,
      approach rate: -0.666549 m/s,
      LOS rate: -0.003007 deg/s,
      cmd heading: 328.323259 deg,
      new cmd heading: 328.319602 deg.

2025-06-05T16:51:41.606Z,1749142301.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730258 target range: 144.592056 and range: 143.70 m.
2025-06-05T16:51:41.784Z,1749142301.784 [DAT](INFO): DAT read: Range 10 to 50 : 141.0 m  (Round-trip  188.1 ms) speed  0.5 m/s

2025-06-05T16:51:41.785Z,1749142301.785 [DAT](INFO): DAT read: user:2436>

2025-06-05T16:51:41.786Z,1749142301.786 [DAT](INFO): DAT read: Tx time:16:51:41.0052

2025-06-05T16:51:41.786Z,1749142301.786 [DAT](INFO): Ping request sent.
2025-06-05T16:51:41.786Z,1749142301.786 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:41.787Z,1749142301.787 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:51:41.787Z,1749142301.787 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:41.787Z,1749142301.787 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:42.035Z,1749142302.035 [DAT](INFO): DAT read: TxSync time:16:51:41.0044

2025-06-05T16:51:42.060Z,1749142302.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 141.000000 m,
      deltaT: 3.779996 s,
      deltaX: -2.699997 m,
      approachRate: -0.714286 m/s,
      rangeRepo size: 4

2025-06-05T16:51:42.060Z,1749142302.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:42.067Z,1749142302.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 135.478745 m,
      bearing: 341.273123 deg,
      approach rate: -0.652746 m/s,
      LOS rate: 0.008560 deg/s,
      cmd heading: 328.319598 deg,
      new cmd heading: 328.331335 deg.

2025-06-05T16:51:42.068Z,1749142302.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730463 target range: 144.592056 and range: 141.00 m.
2025-06-05T16:51:42.414Z,1749142302.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:42.417Z,1749142302.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 135.219086 m,
      bearing: 341.276478 deg,
      approach rate: -0.732172 m/s,
      LOS rate: 0.009477 deg/s,
      cmd heading: 328.331346 deg,
      new cmd heading: 328.341429 deg.

2025-06-05T16:51:42.417Z,1749142302.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730639 target range: 144.592056 and range: 141.00 m.
2025-06-05T16:51:42.887Z,1749142302.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:42.906Z,1749142302.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 134.899170 m,
      bearing: 341.285240 deg,
      approach rate: -0.675395 m/s,
      LOS rate: 0.018544 deg/s,
      cmd heading: 328.341428 deg,
      new cmd heading: 328.367778 deg.

2025-06-05T16:51:42.907Z,1749142302.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731099 target range: 144.592056 and range: 141.00 m.
2025-06-05T16:51:43.236Z,1749142303.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:43.239Z,1749142303.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 134.656616 m,
      bearing: 341.291912 deg,
      approach rate: -0.695347 m/s,
      LOS rate: 0.019160 deg/s,
      cmd heading: 328.367765 deg,
      new cmd heading: 328.387816 deg.

2025-06-05T16:51:43.240Z,1749142303.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731449 target range: 144.592056 and range: 141.00 m.
2025-06-05T16:51:43.628Z,1749142303.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:43.636Z,1749142303.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:43.643Z,1749142303.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 134.394318 m,
      bearing: 341.298807 deg,
      approach rate: -0.656350 m/s,
      LOS rate: 0.017287 deg/s,
      cmd heading: 328.387818 deg,
      new cmd heading: 328.408544 deg.

2025-06-05T16:51:43.644Z,1749142303.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731811 target range: 144.592056 and range: 141.00 m.
2025-06-05T16:51:43.799Z,1749142303.799 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:43.800Z,1749142303.800 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:43.800Z,1749142303.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:44.051Z,1749142304.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264939
2025-06-05T16:51:44.063Z,1749142304.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:44.067Z,1749142304.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 134.094742 m,
      bearing: 341.309456 deg,
      approach rate: -0.702614 m/s,
      LOS rate: 0.025032 deg/s,
      cmd heading: 328.408555 deg,
      new cmd heading: 328.440574 deg.

2025-06-05T16:51:44.068Z,1749142304.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732369 target range: 144.592056 and range: 141.00 m.
2025-06-05T16:51:44.303Z,1749142304.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516852
2025-06-05T16:51:44.437Z,1749142304.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:44.440Z,1749142304.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 133.844437 m,
      bearing: 341.318182 deg,
      approach rate: -0.667742 m/s,
      LOS rate: 0.023322 deg/s,
      cmd heading: 328.440575 deg,
      new cmd heading: 328.466801 deg.

2025-06-05T16:51:44.441Z,1749142304.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732827 target range: 144.592056 and range: 141.00 m.
2025-06-05T16:51:44.555Z,1749142304.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769083
2025-06-05T16:51:44.807Z,1749142304.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021132
2025-06-05T16:51:44.870Z,1749142304.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:44.873Z,1749142304.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 133.545990 m,
      bearing: 341.328994 deg,
      approach rate: -0.689465 m/s,
      LOS rate: 0.025033 deg/s,
      cmd heading: 328.466802 deg,
      new cmd heading: 328.499310 deg.

2025-06-05T16:51:44.874Z,1749142304.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733395 target range: 144.592056 and range: 141.00 m.
2025-06-05T16:51:45.059Z,1749142305.059 [DAT](INFO): DAT read: Rx Time:16:51:43.5942

2025-06-05T16:51:45.060Z,1749142305.060 [DAT](INFO): Rx dataTimestamp_ set to:1749142305.059451
2025-06-05T16:51:45.060Z,1749142305.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274014
2025-06-05T16:51:45.245Z,1749142305.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.59 m.
2025-06-05T16:51:45.249Z,1749142305.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.592056 m,
      nav range: 133.298492 m,
      bearing: 341.338021 deg,
      approach rate: -0.659640 m/s,
      LOS rate: 0.024105 deg/s,
      cmd heading: 328.499314 deg,
      new cmd heading: 328.526446 deg.

2025-06-05T16:51:45.250Z,1749142305.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733868 target range: 144.592056 and range: 141.00 m.
2025-06-05T16:51:45.311Z,1749142305.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524994
2025-06-05T16:51:45.570Z,1749142305.570 [DAT](INFO): DAT read: 16:51:43.5942 LVL= 22736, 25409, 20146, 26851, AGC= 63, IDX= 400, 0.04, 0.881,-0.497, 0.552, 0.216, PHS= 0.753,-0.666, 0.333, RAW= 133.3,  -6.7, CAL= 138.7, -18.0, ROT=  11.3,  18.0

2025-06-05T16:51:45.572Z,1749142305.572 [DAT](INFO): got valid direction response:
 16:51:43.5942 LVL= 22736, 25409, 20146, 26851, AGC= 63, IDX= 400, 0.04, 0.881,-0.497, 0.552, 0.216, PHS= 0.753,-0.666, 0.333, RAW= 133.3,  -6.7, CAL= 138.7, -18.0, ROT=  11.3,  18.0

2025-06-05T16:51:45.572Z,1749142305.572 [DAT](INFO): DAT read: Bearing  11.3,  18.0 (Local)

2025-06-05T16:51:45.573Z,1749142305.573 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.3,  18.0 (Local)

2025-06-05T16:51:45.575Z,1749142305.575 [DAT](INFO): DAT read: Range 10 to 50 : 138.5 m  (Round-trip  184.7 ms) speed  0.6 m/s

2025-06-05T16:51:45.575Z,1749142305.575 [DAT](INFO): DAT read: user:2437>

2025-06-05T16:51:45.576Z,1749142305.576 [DAT](INFO): DAT read: Tx time:16:51:44.7069

2025-06-05T16:51:45.576Z,1749142305.576 [DAT](INFO): Ping request sent.
2025-06-05T16:51:45.576Z,1749142305.576 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:45.577Z,1749142305.577 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:51:45.578Z,1749142305.578 [DAT](INFO): direction in FSK: [0.932620,0.186356,-0.309017]
2025-06-05T16:51:45.578Z,1749142305.578 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:45.578Z,1749142305.578 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:45.583Z,1749142305.583 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:45.583Z,1749142305.583 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:45.667Z,1749142305.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 138.500000 m,
      deltaT: 3.780211 s,
      deltaX: -2.500000 m,
      approachRate: -0.661339 m/s,
      rangeRepo size: 4

2025-06-05T16:51:45.669Z,1749142305.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 137.358276 m,
      bearing: 341.152656 deg,
      lat: 36.906287 deg,
      lon: -122.115752 deg,
      deltaT: 11.088314 s,
      deltaX: -7.233780 m,
      approachRate: -0.652379 m/s,
      posRepo size: 4

2025-06-05T16:51:45.670Z,1749142305.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:45.684Z,1749142305.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 132.655975 m,
      bearing: 341.297367 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024105 deg/s,
      cmd heading: 328.526444 deg,
      new cmd heading: 328.556578 deg.

2025-06-05T16:51:45.685Z,1749142305.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734394 target range: 137.358276 and range: 138.50 m.
2025-06-05T16:51:45.817Z,1749142305.817 [DAT](INFO): DAT read: TxSync time:16:51:44.7061

2025-06-05T16:51:46.187Z,1749142306.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:46.190Z,1749142306.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:46.203Z,1749142306.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 132.306030 m,
      bearing: 341.311680 deg,
      approach rate: -0.663061 m/s,
      LOS rate: 0.027193 deg/s,
      cmd heading: 328.556578 deg,
      new cmd heading: 328.599633 deg.

2025-06-05T16:51:46.204Z,1749142306.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735146 target range: 137.358276 and range: 138.50 m.
2025-06-05T16:51:46.319Z,1749142306.319 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:46.319Z,1749142306.319 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:46.320Z,1749142306.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:46.555Z,1749142306.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:46.557Z,1749142306.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 132.072906 m,
      bearing: 341.321529 deg,
      approach rate: -0.646318 m/s,
      LOS rate: 0.027352 deg/s,
      cmd heading: 328.599636 deg,
      new cmd heading: 328.629233 deg.

2025-06-05T16:51:46.563Z,1749142306.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735662 target range: 137.358276 and range: 138.50 m.
2025-06-05T16:51:46.571Z,1749142306.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994834
2025-06-05T16:51:46.823Z,1749142306.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247071
2025-06-05T16:51:46.949Z,1749142306.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:46.952Z,1749142306.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 131.797913 m,
      bearing: 341.333241 deg,
      approach rate: -0.689740 m/s,
      LOS rate: 0.029439 deg/s,
      cmd heading: 328.629224 deg,
      new cmd heading: 328.664435 deg.

2025-06-05T16:51:46.953Z,1749142306.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736277 target range: 137.358276 and range: 138.50 m.
2025-06-05T16:51:47.076Z,1749142307.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499850
2025-06-05T16:51:47.317Z,1749142307.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:47.327Z,1749142307.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750696
2025-06-05T16:51:47.336Z,1749142307.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 131.555191 m,
      bearing: 341.343396 deg,
      approach rate: -0.658987 m/s,
      LOS rate: 0.027620 deg/s,
      cmd heading: 328.664441 deg,
      new cmd heading: 328.694961 deg.

2025-06-05T16:51:47.337Z,1749142307.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736809 target range: 137.358276 and range: 138.50 m.
2025-06-05T16:51:47.581Z,1749142307.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003588
2025-06-05T16:51:47.715Z,1749142307.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:47.718Z,1749142307.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 131.291489 m,
      bearing: 341.354216 deg,
      approach rate: -0.664447 m/s,
      LOS rate: 0.027317 deg/s,
      cmd heading: 328.694958 deg,
      new cmd heading: 328.727483 deg.

2025-06-05T16:51:47.720Z,1749142307.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737377 target range: 137.358276 and range: 138.50 m.
2025-06-05T16:51:47.833Z,1749142307.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256603
2025-06-05T16:51:48.083Z,1749142308.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506795
2025-06-05T16:51:48.173Z,1749142308.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:48.181Z,1749142308.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 130.996582 m,
      bearing: 341.362785 deg,
      approach rate: -0.642859 m/s,
      LOS rate: 0.018723 deg/s,
      cmd heading: 328.727470 deg,
      new cmd heading: 328.753236 deg.

2025-06-05T16:51:48.187Z,1749142308.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737826 target range: 137.358276 and range: 138.50 m.
2025-06-05T16:51:48.335Z,1749142308.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758864
2025-06-05T16:51:48.551Z,1749142308.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:48.554Z,1749142308.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:48.557Z,1749142308.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 130.742096 m,
      bearing: 341.369913 deg,
      approach rate: -0.667664 m/s,
      LOS rate: 0.018736 deg/s,
      cmd heading: 328.753233 deg,
      new cmd heading: 328.774658 deg.

2025-06-05T16:51:48.559Z,1749142308.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738200 target range: 137.358276 and range: 138.50 m.
2025-06-05T16:51:48.587Z,1749142308.587 [DAT](INFO): DAT read: Rx Time:16:51:47.2926

2025-06-05T16:51:48.588Z,1749142308.588 [DAT](INFO): Rx dataTimestamp_ set to:1749142308.587438
2025-06-05T16:51:48.588Z,1749142308.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011910
2025-06-05T16:51:48.840Z,1749142308.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263809
2025-06-05T16:51:48.983Z,1749142308.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:48.986Z,1749142308.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 130.457993 m,
      bearing: 341.375193 deg,
      approach rate: -0.662422 m/s,
      LOS rate: 0.012339 deg/s,
      cmd heading: 328.774653 deg,
      new cmd heading: 328.790529 deg.

2025-06-05T16:51:48.987Z,1749142308.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738477 target range: 137.358276 and range: 138.50 m.
2025-06-05T16:51:49.092Z,1749142309.092 [DAT](INFO): DAT read: Range 10 to 50 : 136.2 m  (Round-trip  181.6 ms) speed  0.4 m/s

2025-06-05T16:51:49.094Z,1749142309.094 [DAT](INFO): DAT read: user:2438>

2025-06-05T16:51:49.095Z,1749142309.095 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:51:49.096Z,1749142309.096 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:49.096Z,1749142309.096 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:49.097Z,1749142309.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:49.337Z,1749142309.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 136.199997 m,
      deltaT: 3.527607 s,
      deltaX: -2.300003 m,
      approachRate: -0.652001 m/s,
      rangeRepo size: 4

2025-06-05T16:51:49.338Z,1749142309.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:49.341Z,1749142309.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 130.227234 m,
      bearing: 341.379278 deg,
      approach rate: -0.652868 m/s,
      LOS rate: 0.011578 deg/s,
      cmd heading: 328.790526 deg,
      new cmd heading: 328.802803 deg.

2025-06-05T16:51:49.342Z,1749142309.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738691 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:49.343Z,1749142309.343 [DAT](INFO): DAT read: Tx time:16:51:48.4053

2025-06-05T16:51:49.344Z,1749142309.344 [DAT](INFO): Ping request sent.
2025-06-05T16:51:49.344Z,1749142309.344 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:49.344Z,1749142309.344 [DAT](INFO): DAT read: TxSync time:16:51:48.4045

2025-06-05T16:51:49.345Z,1749142309.345 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:49.345Z,1749142309.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001594
2025-06-05T16:51:49.595Z,1749142309.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251356
2025-06-05T16:51:49.740Z,1749142309.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:49.743Z,1749142309.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 129.964630 m,
      bearing: 341.383882 deg,
      approach rate: -0.650185 m/s,
      LOS rate: 0.011421 deg/s,
      cmd heading: 328.802793 deg,
      new cmd heading: 328.816631 deg.

2025-06-05T16:51:49.744Z,1749142309.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738933 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:49.849Z,1749142309.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504779
2025-06-05T16:51:50.099Z,1749142310.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755222
2025-06-05T16:51:50.169Z,1749142310.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:50.172Z,1749142310.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 129.685425 m,
      bearing: 341.385338 deg,
      approach rate: -0.651246 m/s,
      LOS rate: 0.003403 deg/s,
      cmd heading: 328.816645 deg,
      new cmd heading: 328.821022 deg.

2025-06-05T16:51:50.173Z,1749142310.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739009 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:50.356Z,1749142310.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012583
2025-06-05T16:51:50.603Z,1749142310.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259318
2025-06-05T16:51:50.659Z,1749142310.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:50.668Z,1749142310.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:50.678Z,1749142310.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 129.378052 m,
      bearing: 341.386753 deg,
      approach rate: -0.615409 m/s,
      LOS rate: 0.002840 deg/s,
      cmd heading: 328.821016 deg,
      new cmd heading: 328.825272 deg.

2025-06-05T16:51:50.680Z,1749142310.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739084 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:50.855Z,1749142310.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511528
2025-06-05T16:51:51.107Z,1749142311.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763354
2025-06-05T16:51:51.125Z,1749142311.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:51.133Z,1749142311.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 129.080536 m,
      bearing: 341.386833 deg,
      approach rate: -0.651330 m/s,
      LOS rate: 0.000176 deg/s,
      cmd heading: 328.825278 deg,
      new cmd heading: 328.825519 deg.

2025-06-05T16:51:51.139Z,1749142311.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739088 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:51.359Z,1749142311.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015567
2025-06-05T16:51:51.499Z,1749142311.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:51.502Z,1749142311.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 128.845459 m,
      bearing: 341.386393 deg,
      approach rate: -0.637029 m/s,
      LOS rate: -0.001196 deg/s,
      cmd heading: 328.825524 deg,
      new cmd heading: 328.824200 deg.

2025-06-05T16:51:51.511Z,1749142311.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739065 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:51.612Z,1749142311.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268189
2025-06-05T16:51:51.867Z,1749142311.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522195
2025-06-05T16:51:51.975Z,1749142311.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:51.977Z,1749142311.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 128.519241 m,
      bearing: 341.389381 deg,
      approach rate: -0.678780 m/s,
      LOS rate: 0.006235 deg/s,
      cmd heading: 328.824213 deg,
      new cmd heading: 328.833202 deg.

2025-06-05T16:51:51.979Z,1749142311.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739222 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:52.116Z,1749142312.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771902
2025-06-05T16:51:52.301Z,1749142312.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:52.323Z,1749142312.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 128.314926 m,
      bearing: 341.391145 deg,
      approach rate: -0.629038 m/s,
      LOS rate: 0.005439 deg/s,
      cmd heading: 328.833201 deg,
      new cmd heading: 328.838501 deg.

2025-06-05T16:51:52.324Z,1749142312.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739315 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:52.368Z,1749142312.368 [DAT](INFO): DAT read: Rx Time:16:51:51.0226

2025-06-05T16:51:52.369Z,1749142312.369 [DAT](INFO): Rx dataTimestamp_ set to:1749142312.368690
2025-06-05T16:51:52.370Z,1749142312.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026223
2025-06-05T16:51:52.619Z,1749142312.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275410
2025-06-05T16:51:52.688Z,1749142312.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:52.690Z,1749142312.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:52.693Z,1749142312.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 128.056885 m,
      bearing: 341.393226 deg,
      approach rate: -0.661077 m/s,
      LOS rate: 0.005341 deg/s,
      cmd heading: 328.838501 deg,
      new cmd heading: 328.844756 deg.

2025-06-05T16:51:52.694Z,1749142312.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739424 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:52.882Z,1749142312.882 [DAT](INFO): DAT read: 16:51:51.0227 LVL= 26608, 32753, 22914, 32755, AGC= 64, IDX= 259,-0.05,-1.817,-3.111,-2.023,-2.360, PHS= 0.631,-0.704, 0.334, RAW= 137.8,  -4.3, CAL= 143.3, -14.1, ROT=   6.7,  14.1

2025-06-05T16:51:52.884Z,1749142312.884 [DAT](INFO): got valid direction response:
 16:51:51.0227 LVL= 26608, 32753, 22914, 32755, AGC= 64, IDX= 259,-0.05,-1.817,-3.111,-2.023,-2.360, PHS= 0.631,-0.704, 0.334, RAW= 137.8,  -4.3, CAL= 143.3, -14.1, ROT=   6.7,  14.1

2025-06-05T16:51:52.884Z,1749142312.884 [DAT](INFO): DAT read: Bearing   6.7,  14.1 (Local)

2025-06-05T16:51:52.885Z,1749142312.885 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.7,  14.1 (Local)

2025-06-05T16:51:52.886Z,1749142312.886 [DAT](INFO): DAT read: Range 10 to 50 : 159.8 m  (Round13.1 ms) speed  0.5 m/2439>

2025-06-05T16:51:52.887Z,1749142312.887 [DAT](INFO): DAT read: Tx time:16:51:52.1054

2025-06-05T16:51:52.887Z,1749142312.887 [DAT](INFO): Ping request sent.
2025-06-05T16:51:52.888Z,1749142312.888 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:52.888Z,1749142312.888 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:51:52.889Z,1749142312.889 [DAT](INFO): direction in FSK: [0.963248,0.113156,-0.243615]
2025-06-05T16:51:52.889Z,1749142312.889 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:52.889Z,1749142312.889 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:52.893Z,1749142312.893 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:52.893Z,1749142312.893 [DAT](INFO): publishing direction and range info
2025-06-05T16:51:53.124Z,1749142313.124 [DAT](INFO): DAT read: TxSync time:16:51:52.1046

2025-06-05T16:51:53.200Z,1749142313.200 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V
2025-06-05T16:51:53.252Z,1749142313.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 159.800003 m,
 deltaT: 3.782242 s,
 deltaX: 23.600006 m,
 approachRate: 6.239687 m/s,
 rangeRepo size: 4
2025-06-05T16:51:53.252Z,1749142313.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:53.259Z,1749142313.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 127.708237 m,
      bearing: 341.395912 deg,
      approach rate: -0.627293 m/s,
      LOS rate: 0.004847 deg/s,
      cmd heading: 328.844758 deg,
      new cmd heading: 328.852839 deg.

2025-06-05T16:51:53.260Z,1749142313.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739565 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:53.677Z,1749142313.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:53.681Z,1749142313.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 127.418755 m,
      bearing: 341.398210 deg,
      approach rate: -0.671757 m/s,
      LOS rate: 0.005344 deg/s,
      cmd heading: 328.852845 deg,
      new cmd heading: 328.859753 deg.

2025-06-05T16:51:53.683Z,1749142313.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739686 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:54.121Z,1749142314.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:54.124Z,1749142314.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 127.141655 m,
      bearing: 341.405072 deg,
      approach rate: -0.624264 m/s,
      LOS rate: 0.015493 deg/s,
      cmd heading: 328.859757 deg,
      new cmd heading: 328.880388 deg.

2025-06-05T16:51:54.125Z,1749142314.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740046 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:54.504Z,1749142314.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:54.507Z,1749142314.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 126.908951 m,
      bearing: 341.410533 deg,
      approach rate: -0.606511 m/s,
      LOS rate: 0.014259 deg/s,
      cmd heading: 328.880384 deg,
      new cmd heading: 328.896796 deg.

2025-06-05T16:51:54.508Z,1749142314.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740332 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:54.639Z,1749142314.639 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:51:54.969Z,1749142314.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:54.971Z,1749142314.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:54.974Z,1749142314.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 126.613892 m,
      bearing: 341.416465 deg,
      approach rate: -0.631962 m/s,
      LOS rate: 0.012734 deg/s,
      cmd heading: 328.896804 deg,
      new cmd heading: 328.914641 deg.

2025-06-05T16:51:54.975Z,1749142314.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740644 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:55.139Z,1749142315.139 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:55.139Z,1749142315.139 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:55.139Z,1749142315.139 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:55.320Z,1749142315.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:55.338Z,1749142315.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 126.398758 m,
      bearing: 341.420807 deg,
      approach rate: -0.617632 m/s,
      LOS rate: 0.012488 deg/s,
      cmd heading: 328.914644 deg,
      new cmd heading: 328.927694 deg.

2025-06-05T16:51:55.339Z,1749142315.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740871 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:55.392Z,1749142315.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504668
2025-06-05T16:51:55.645Z,1749142315.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757423
2025-06-05T16:51:55.648Z,1749142315.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:51:55.736Z,1749142315.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:55.743Z,1749142315.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 126.152191 m,
      bearing: 341.425697 deg,
      approach rate: -0.591604 m/s,
      LOS rate: 0.011757 deg/s,
      cmd heading: 328.927704 deg,
      new cmd heading: 328.942404 deg.

2025-06-05T16:51:55.744Z,1749142315.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741128 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:55.898Z,1749142315.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010388
2025-06-05T16:51:56.138Z,1749142316.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:56.141Z,1749142316.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 125.891571 m,
      bearing: 341.431856 deg,
      approach rate: -0.649081 m/s,
      LOS rate: 0.015370 deg/s,
      cmd heading: 328.942402 deg,
      new cmd heading: 328.960917 deg.

2025-06-05T16:51:56.142Z,1749142316.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741451 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:56.148Z,1749142316.148 [DAT](INFO): DAT read: Rx Time:16:51:54.6847

2025-06-05T16:51:56.148Z,1749142316.148 [DAT](INFO): Rx dataTimestamp_ set to:1749142316.148165
2025-06-05T16:51:56.149Z,1749142316.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261376
2025-06-05T16:51:56.399Z,1749142316.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511639
2025-06-05T16:51:56.535Z,1749142316.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:56.544Z,1749142316.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 125.653282 m,
      bearing: 341.437643 deg,
      approach rate: -0.606991 m/s,
      LOS rate: 0.014770 deg/s,
      cmd heading: 328.960926 deg,
      new cmd heading: 328.978321 deg.

2025-06-05T16:51:56.545Z,1749142316.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741755 target range: 137.358276 and range: 136.20 m.
2025-06-05T16:51:56.652Z,1749142316.652 [DAT](INFO): DAT read: Range 10 to 50 : 131.3 m  (Round-trip  175.1 ms) speed  0.6 m/s

2025-06-05T16:51:56.654Z,1749142316.654 [DAT](INFO): DAT read: user:2440>

2025-06-05T16:51:56.655Z,1749142316.655 [DAT](INFO): DAT read: Tx time:16:51:55.8054

2025-06-05T16:51:56.656Z,1749142316.656 [DAT](INFO): Ping request sent.
2025-06-05T16:51:56.656Z,1749142316.656 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:51:56.657Z,1749142316.657 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:51:56.657Z,1749142316.657 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:56.659Z,1749142316.659 [DAT](INFO): publishing transmit ping time
2025-06-05T16:51:56.905Z,1749142316.905 [DAT](INFO): DAT read: TxSync time:16:51:55.8046

2025-06-05T16:51:57.018Z,1749142317.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:57.021Z,1749142317.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 131.300003 m,
      deltaT: 7.560165 s,
      deltaX: -4.899994 m,
      approachRate: -0.648133 m/s,
      rangeRepo size: 4

2025-06-05T16:51:57.022Z,1749142317.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:57.028Z,1749142317.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 125.352066 m,
      bearing: 341.444750 deg,
      approach rate: -0.614802 m/s,
      LOS rate: 0.014541 deg/s,
      cmd heading: 328.978329 deg,
      new cmd heading: 328.999701 deg.

2025-06-05T16:51:57.035Z,1749142317.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742128 target range: 137.358276 and range: 131.30 m.
2025-06-05T16:51:57.155Z,1749142317.155 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:51:57.155Z,1749142317.155 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:51:57.155Z,1749142317.155 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:51:57.327Z,1749142317.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:57.331Z,1749142317.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 125.149353 m,
      bearing: 341.449901 deg,
      approach rate: -0.660301 m/s,
      LOS rate: 0.016805 deg/s,
      cmd heading: 328.999694 deg,
      new cmd heading: 329.015171 deg.

2025-06-05T16:51:57.332Z,1749142317.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742398 target range: 137.358276 and range: 131.30 m.
2025-06-05T16:51:57.409Z,1749142317.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752493
2025-06-05T16:51:57.659Z,1749142317.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003359
2025-06-05T16:51:57.729Z,1749142317.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:57.749Z,1749142317.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 124.898888 m,
      bearing: 341.456673 deg,
      approach rate: -0.623538 m/s,
      LOS rate: 0.016892 deg/s,
      cmd heading: 329.015157 deg,
      new cmd heading: 329.035513 deg.

2025-06-05T16:51:57.754Z,1749142317.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742753 target range: 137.358276 and range: 131.30 m.
2025-06-05T16:51:57.916Z,1749142317.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259191
2025-06-05T16:51:58.164Z,1749142318.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508590
2025-06-05T16:51:58.200Z,1749142318.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:58.207Z,1749142318.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 124.605263 m,
      bearing: 341.462829 deg,
      approach rate: -0.622931 m/s,
      LOS rate: 0.013092 deg/s,
      cmd heading: 329.035511 deg,
      new cmd heading: 329.054024 deg.

2025-06-05T16:51:58.208Z,1749142318.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743076 target range: 137.358276 and range: 131.30 m.
2025-06-05T16:51:58.416Z,1749142318.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760650
2025-06-05T16:51:58.568Z,1749142318.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:58.575Z,1749142318.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 124.350830 m,
      bearing: 341.468480 deg,
      approach rate: -0.692503 m/s,
      LOS rate: 0.015413 deg/s,
      cmd heading: 329.054035 deg,
      new cmd heading: 329.071023 deg.

2025-06-05T16:51:58.576Z,1749142318.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743373 target range: 137.358276 and range: 131.30 m.
2025-06-05T16:51:58.667Z,1749142318.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011530
2025-06-05T16:51:58.922Z,1749142318.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265573
2025-06-05T16:51:59.025Z,1749142319.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:51:59.049Z,1749142319.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:59.057Z,1749142319.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 124.037933 m,
      bearing: 341.474880 deg,
      approach rate: -0.655173 m/s,
      LOS rate: 0.013433 deg/s,
      cmd heading: 329.071028 deg,
      new cmd heading: 329.090274 deg.

2025-06-05T16:51:59.064Z,1749142319.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743709 target range: 137.358276 and range: 131.30 m.
2025-06-05T16:51:59.172Z,1749142319.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516439
2025-06-05T16:51:59.372Z,1749142319.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:59.392Z,1749142319.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 123.805046 m,
      bearing: 341.479663 deg,
      approach rate: -0.712544 m/s,
      LOS rate: 0.014664 deg/s,
      cmd heading: 329.090262 deg,
      new cmd heading: 329.104641 deg.

2025-06-05T16:51:59.393Z,1749142319.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743959 target range: 137.358276 and range: 131.30 m.
2025-06-05T16:51:59.423Z,1749142319.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767560
2025-06-05T16:51:59.678Z,1749142319.678 [DAT](INFO): DAT read: Rx Time:16:51:58.3816

2025-06-05T16:51:59.678Z,1749142319.678 [DAT](INFO): Rx dataTimestamp_ set to:1749142319.677740
2025-06-05T16:51:59.679Z,1749142319.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022946
2025-06-05T16:51:59.782Z,1749142319.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-06-05T16:51:59.785Z,1749142319.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.358276 m,
      nav range: 123.535606 m,
      bearing: 341.485423 deg,
      approach rate: -0.664078 m/s,
      LOS rate: 0.014227 deg/s,
      cmd heading: 329.104633 deg,
      new cmd heading: 329.121950 deg.

2025-06-05T16:51:59.790Z,1749142319.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744262 target range: 137.358276 and range: 131.30 m.
2025-06-05T16:51:59.931Z,1749142319.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273896
2025-06-05T16:52:00.217Z,1749142320.217 [DAT](INFO): DAT read: 16:51:58.3816 LVL= 26976, 31281, 23858, 32755, AGC= 66, IDX= 413, 0.36, 2.394, 0.893, 2.131, 1.776, PHS= 0.706,-0.836, 0.351, RAW= 137.3,  -3.2, CAL= 142.7, -12.8, ROT=   7.3,  12.8

2025-06-05T16:52:00.223Z,1749142320.223 [DAT](INFO): got valid direction response:
 16:51:58.3816 LVL= 26976, 31281, 23858, 32755, AGC= 66, IDX= 413, 0.36, 2.394, 0.893, 2.131, 1.776, PHS= 0.706,-0.836, 0.351, RAW= 137.3,  -3.2, CAL= 142.7, -12.8, ROT=   7.3,  12.8

2025-06-05T16:52:00.224Z,1749142320.224 [DAT](INFO): DAT read: Bearing   7.3,  12.8 (Local)

2025-06-05T16:52:00.224Z,1749142320.224 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.3,  12.8 (Local)

2025-06-05T16:52:00.226Z,1749142320.226 [DAT](INFO): DAT read: Range 10 to 50 : 129.0 m  (Round-trip  172.0 ms) speed  0.7 m/s

2025-06-05T16:52:00.231Z,1749142320.231 [DAT](INFO): DAT read: user:2441>

2025-06-05T16:52:00.232Z,1749142320.232 [DAT](INFO): DAT read: Tx time:16:51:59.5054

2025-06-05T16:52:00.232Z,1749142320.232 [DAT](INFO): Ping request sent.
2025-06-05T16:52:00.232Z,1749142320.232 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:52:00.233Z,1749142320.233 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:52:00.234Z,1749142320.234 [DAT](INFO): direction in FSK: [0.967245,0.123907,-0.221548]
2025-06-05T16:52:00.270Z,1749142320.270 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:00.270Z,1749142320.270 [DAT](INFO): publishing direction and range info
2025-06-05T16:52:00.273Z,1749142320.273 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:00.274Z,1749142320.274 [DAT](INFO): publishing direction and range info
2025-06-05T16:52:00.333Z,1749142320.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 129.000000 m,
      deltaT: 3.530288 s,
      deltaX: -2.300003 m,
      approachRate: -0.651506 m/s,
      rangeRepo size: 4

2025-06-05T16:52:00.340Z,1749142320.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 127.935684 m,
      bearing: 337.467338 deg,
      lat: 36.906276 deg,
      lon: -122.115824 deg,
      deltaT: 14.618060 s,
      deltaX: -9.422592 m,
      approachRate: -0.644586 m/s,
      posRepo size: 4

2025-06-05T16:52:00.341Z,1749142320.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m.
2025-06-05T16:52:00.348Z,1749142320.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.935684 m,
      nav range: 124.199684 m,
      bearing: 338.509088 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014227 deg/s,
      cmd heading: 329.121954 deg,
      new cmd heading: 329.145634 deg.

2025-06-05T16:52:00.349Z,1749142320.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744675 target range: 127.935684 and range: 129.00 m.
2025-06-05T16:52:00.432Z,1749142320.432 [DAT](INFO): DAT read: TxSync time:16:51:59.5046

2025-06-05T16:52:00.711Z,1749142320.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m.
2025-06-05T16:52:00.714Z,1749142320.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.935684 m,
      nav range: 123.921097 m,
      bearing: 338.505728 deg,
      approach rate: -0.745693 m/s,
      LOS rate: -0.009014 deg/s,
      cmd heading: 329.145641 deg,
      new cmd heading: 329.135538 deg.

2025-06-05T16:52:00.720Z,1749142320.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744499 target range: 127.935684 and range: 129.00 m.
2025-06-05T16:52:01.091Z,1749142321.091 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:01.093Z,1749142321.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m.
2025-06-05T16:52:01.100Z,1749142321.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.935684 m,
      nav range: 123.657600 m,
      bearing: 338.500195 deg,
      approach rate: -0.681017 m/s,
      LOS rate: -0.014332 deg/s,
      cmd heading: 329.135533 deg,
      new cmd heading: 329.118897 deg.

2025-06-05T16:52:01.101Z,1749142321.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744208 target range: 127.935684 and range: 129.00 m.
2025-06-05T16:52:01.187Z,1749142321.187 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:01.187Z,1749142321.187 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:01.188Z,1749142321.188 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:01.439Z,1749142321.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206754
2025-06-05T16:52:01.473Z,1749142321.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m.
2025-06-05T16:52:01.476Z,1749142321.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.935684 m,
      nav range: 123.375244 m,
      bearing: 338.494239 deg,
      approach rate: -0.743871 m/s,
      LOS rate: -0.015726 deg/s,
      cmd heading: 329.118894 deg,
      new cmd heading: 329.100987 deg.

2025-06-05T16:52:01.477Z,1749142321.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743896 target range: 127.935684 and range: 129.00 m.
2025-06-05T16:52:01.692Z,1749142321.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.459660
2025-06-05T16:52:01.863Z,1749142321.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m.
2025-06-05T16:52:01.867Z,1749142321.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.935684 m,
      nav range: 123.099655 m,
      bearing: 338.488439 deg,
      approach rate: -0.707616 m/s,
      LOS rate: -0.014926 deg/s,
      cmd heading: 329.100999 deg,
      new cmd heading: 329.083560 deg.

2025-06-05T16:52:01.868Z,1749142321.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743592 target range: 127.935684 and range: 129.00 m.
2025-06-05T16:52:01.945Z,1749142321.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712305
2025-06-05T16:52:02.195Z,1749142322.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962774
2025-06-05T16:52:02.296Z,1749142322.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m.
2025-06-05T16:52:02.300Z,1749142322.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.935684 m,
      nav range: 122.784760 m,
      bearing: 338.480552 deg,
      approach rate: -0.726639 m/s,
      LOS rate: -0.018247 deg/s,
      cmd heading: 329.083569 deg,
      new cmd heading: 329.059847 deg.

2025-06-05T16:52:02.301Z,1749142322.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743178 target range: 127.935684 and range: 129.00 m.
2025-06-05T16:52:02.449Z,1749142322.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216560
2025-06-05T16:52:02.685Z,1749142322.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m.
2025-06-05T16:52:02.688Z,1749142322.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.935684 m,
      nav range: 122.504028 m,
      bearing: 338.473310 deg,
      approach rate: -0.720761 m/s,
      LOS rate: -0.018637 deg/s,
      cmd heading: 329.059854 deg,
      new cmd heading: 329.038077 deg.

2025-06-05T16:52:02.689Z,1749142322.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742798 target range: 127.935684 and range: 129.00 m.
2025-06-05T16:52:02.701Z,1749142322.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468755
2025-06-05T16:52:02.951Z,1749142322.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718835
2025-06-05T16:52:03.099Z,1749142323.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:03.101Z,1749142323.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m.
2025-06-05T16:52:03.124Z,1749142323.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.935684 m,
      nav range: 122.200043 m,
      bearing: 338.466733 deg,
      approach rate: -0.731223 m/s,
      LOS rate: -0.015860 deg/s,
      cmd heading: 329.038079 deg,
      new cmd heading: 329.018300 deg.

2025-06-05T16:52:03.125Z,1749142323.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742453 target range: 127.935684 and range: 129.00 m.
2025-06-05T16:52:03.203Z,1749142323.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971025
2025-06-05T16:52:03.455Z,1749142323.455 [DAT](INFO): DAT read: Rx Time:16:52:02.0781

2025-06-05T16:52:03.456Z,1749142323.456 [DAT](INFO): Rx dataTimestamp_ set to:1749142323.455340
2025-06-05T16:52:03.456Z,1749142323.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223872
2025-06-05T16:52:03.500Z,1749142323.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m.
2025-06-05T16:52:03.507Z,1749142323.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.935684 m,
      nav range: 121.920937 m,
      bearing: 338.460698 deg,
      approach rate: -0.699108 m/s,
      LOS rate: -0.015152 deg/s,
      cmd heading: 329.018299 deg,
      new cmd heading: 329.000152 deg.

2025-06-05T16:52:03.508Z,1749142323.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742136 target range: 127.935684 and range: 129.00 m.
2025-06-05T16:52:03.707Z,1749142323.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474742
2025-06-05T16:52:03.968Z,1749142323.968 [DAT](INFO): DAT read: 16:52:02.0781 LVL= 25056, 32753, 24914, 32755, AGC= 70, IDX= 409, 0.01,-2.169, 2.762,-2.403,-2.768, PHS= 0.687,-0.706, 0.363, RAW= 137.1,  -5.5, CAL= 142.8, -15.6, ROT=   7.2,  15.6

2025-06-05T16:52:03.977Z,1749142323.977 [DAT](INFO): got valid direction response:
 16:52:02.0781 LVL= 25056, 32753, 24914, 32755, AGC= 70, IDX= 409, 0.01,-2.169, 2.762,-2.403,-2.768, PHS= 0.687,-0.706, 0.363, RAW= 137.1,  -5.5, CAL= 142.8, -15.6, ROT=   7.2,  15.6

2025-06-05T16:52:03.978Z,1749142323.978 [DAT](INFO): DAT read: Bearing   7.2,  15.6 (Local)

2025-06-05T16:52:03.979Z,1749142323.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.2,  15.6 (Local)

2025-06-05T16:52:03.981Z,1749142323.981 [DAT](INFO): DAT read: Range 10 to 50 : 126.3 m  (Round-trip  168.4 ms) speed  0.4 m/s

2025-06-05T16:52:03.986Z,1749142323.986 [DAT](INFO): DAT read: user:2442>

2025-06-05T16:52:03.989Z,1749142323.989 [DAT](INFO): DAT read: Tx time:16:52:03.2055

2025-06-05T16:52:03.994Z,1749142323.994 [DAT](INFO): Ping request sent.
2025-06-05T16:52:03.995Z,1749142323.995 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:52:03.996Z,1749142323.996 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:52:04.004Z,1749142324.004 [DAT](INFO): direction in FSK: [0.955568,0.120716,-0.268920]
2025-06-05T16:52:04.005Z,1749142324.005 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:04.006Z,1749142324.006 [DAT](INFO): publishing direction and range info
2025-06-05T16:52:04.062Z,1749142324.062 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:04.062Z,1749142324.062 [DAT](INFO): publishing direction and range info
2025-06-05T16:52:04.211Z,1749142324.211 [DAT](INFO): DAT read: TxSync time:16:52:03.2047

2025-06-05T16:52:04.236Z,1749142324.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.300003 m,
      deltaT: 3.777532 s,
      deltaX: -2.699997 m,
      approachRate: -0.714752 m/s,
      rangeRepo size: 4

2025-06-05T16:52:04.242Z,1749142324.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 125.258553 m,
      bearing: 337.657715 deg,
      lat: 36.906271 deg,
      lon: -122.115838 deg,
      deltaT: 3.777532 s,
      deltaX: -2.677132 m,
      approachRate: -0.708699 m/s,
      posRepo size: 4

2025-06-05T16:52:04.243Z,1749142324.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:04.246Z,1749142324.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 121.330910 m,
      bearing: 337.799436 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015152 deg/s,
      cmd heading: 329.000158 deg,
      new cmd heading: 328.966737 deg.

2025-06-05T16:52:04.251Z,1749142324.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741553 target range: 125.258553 and range: 126.30 m.
2025-06-05T16:52:04.575Z,1749142324.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:04.579Z,1749142324.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 121.048637 m,
      bearing: 337.792146 deg,
      approach rate: -0.829986 m/s,
      LOS rate: -0.021487 deg/s,
      cmd heading: 328.966745 deg,
      new cmd heading: 328.944822 deg.

2025-06-05T16:52:04.582Z,1749142324.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741170 target range: 125.258553 and range: 126.30 m.
2025-06-05T16:52:05.076Z,1749142325.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:05.087Z,1749142325.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 120.699539 m,
      bearing: 337.783082 deg,
      approach rate: -0.696892 m/s,
      LOS rate: -0.018146 deg/s,
      cmd heading: 328.944834 deg,
      new cmd heading: 328.917564 deg.

2025-06-05T16:52:05.088Z,1749142325.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740695 target range: 125.258553 and range: 126.30 m.
2025-06-05T16:52:05.466Z,1749142325.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:05.468Z,1749142325.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:05.475Z,1749142325.475 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:05.475Z,1749142325.475 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:05.475Z,1749142325.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:05.499Z,1749142325.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 120.429657 m,
      bearing: 337.777002 deg,
      approach rate: -0.688979 m/s,
      LOS rate: -0.015557 deg/s,
      cmd heading: 328.917568 deg,
      new cmd heading: 328.899286 deg.

2025-06-05T16:52:05.500Z,1749142325.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740376 target range: 125.258553 and range: 126.30 m.
2025-06-05T16:52:05.727Z,1749142325.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737099
2025-06-05T16:52:05.871Z,1749142325.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:05.873Z,1749142325.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 120.166580 m,
      bearing: 337.771048 deg,
      approach rate: -0.653475 m/s,
      LOS rate: -0.014821 deg/s,
      cmd heading: 328.899290 deg,
      new cmd heading: 328.881390 deg.

2025-06-05T16:52:05.875Z,1749142325.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740063 target range: 125.258553 and range: 126.30 m.
2025-06-05T16:52:05.979Z,1749142325.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989218
2025-06-05T16:52:06.232Z,1749142326.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242285
2025-06-05T16:52:06.291Z,1749142326.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:06.294Z,1749142326.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 119.899323 m,
      bearing: 337.768450 deg,
      approach rate: -0.635556 m/s,
      LOS rate: -0.006194 deg/s,
      cmd heading: 328.881395 deg,
      new cmd heading: 328.873581 deg.

2025-06-05T16:52:06.299Z,1749142326.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739927 target range: 125.258553 and range: 126.30 m.
2025-06-05T16:52:06.483Z,1749142326.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493118
2025-06-05T16:52:06.635Z,1749142326.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:06.638Z,1749142326.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 119.664429 m,
      bearing: 337.766021 deg,
      approach rate: -0.683387 m/s,
      LOS rate: -0.007079 deg/s,
      cmd heading: 328.873581 deg,
      new cmd heading: 328.866282 deg.

2025-06-05T16:52:06.639Z,1749142326.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739799 target range: 125.258553 and range: 126.30 m.
2025-06-05T16:52:06.736Z,1749142326.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746314
2025-06-05T16:52:06.988Z,1749142326.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997530
2025-06-05T16:52:07.133Z,1749142327.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:07.137Z,1749142327.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 119.342293 m,
      bearing: 337.762485 deg,
      approach rate: -0.646179 m/s,
      LOS rate: -0.007113 deg/s,
      cmd heading: 328.866287 deg,
      new cmd heading: 328.855649 deg.

2025-06-05T16:52:07.138Z,1749142327.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739614 target range: 125.258553 and range: 126.30 m.
2025-06-05T16:52:07.239Z,1749142327.239 [DAT](INFO): DAT read: Rx Time:16:52:05.7750

2025-06-05T16:52:07.240Z,1749142327.240 [DAT](INFO): Rx dataTimestamp_ set to:1749142327.239685
2025-06-05T16:52:07.241Z,1749142327.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251030
2025-06-05T16:52:07.452Z,1749142327.452 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +36.10.00
2025-06-05T16:52:07.468Z,1749142327.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:07.471Z,1749142327.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:07.473Z,1749142327.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 119.125938 m,
      bearing: 337.760078 deg,
      approach rate: -0.642234 m/s,
      LOS rate: -0.007159 deg/s,
      cmd heading: 328.855659 deg,
      new cmd heading: 328.848424 deg.

2025-06-05T16:52:07.475Z,1749142327.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739488 target range: 125.258553 and range: 126.30 m.
2025-06-05T16:52:07.491Z,1749142327.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501221
2025-06-05T16:52:07.666Z,1749142327.666 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:52:07.744Z,1749142327.744 [DAT](INFO): DAT read: Range 10 to 50 : 123.9 m  (Round-trip  165.3 ms) speed  0.8 m/s

2025-06-05T16:52:07.745Z,1749142327.745 [DAT](INFO): DAT read: user:2443>

2025-06-05T16:52:07.746Z,1749142327.746 [DAT](INFO): DAT read: Tx time:16:52:06.8555

2025-06-05T16:52:07.746Z,1749142327.746 [DAT](INFO): Ping request sent.
2025-06-05T16:52:07.746Z,1749142327.746 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:52:07.746Z,1749142327.746 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:52:07.746Z,1749142327.746 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:07.748Z,1749142327.747 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:07.911Z,1749142327.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 123.900002 m,
      deltaT: 3.783971 s,
      deltaX: -2.400002 m,
      approachRate: -0.634255 m/s,
      rangeRepo size: 4

2025-06-05T16:52:07.912Z,1749142327.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:07.920Z,1749142327.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 118.851387 m,
      bearing: 337.756850 deg,
      approach rate: -0.635474 m/s,
      LOS rate: -0.007487 deg/s,
      cmd heading: 328.848419 deg,
      new cmd heading: 328.838715 deg.

2025-06-05T16:52:07.921Z,1749142327.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739318 target range: 125.258553 and range: 123.90 m.
2025-06-05T16:52:07.996Z,1749142327.996 [DAT](INFO): DAT read: TxSync time:16:52:06.8547

2025-06-05T16:52:08.292Z,1749142328.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:08.295Z,1749142328.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 118.618393 m,
      bearing: 337.758445 deg,
      approach rate: -0.598132 m/s,
      LOS rate: 0.004103 deg/s,
      cmd heading: 328.838720 deg,
      new cmd heading: 328.843515 deg.

2025-06-05T16:52:08.296Z,1749142328.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739402 target range: 125.258553 and range: 123.90 m.
2025-06-05T16:52:08.670Z,1749142328.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:08.673Z,1749142328.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 118.407158 m,
      bearing: 337.760040 deg,
      approach rate: -0.582954 m/s,
      LOS rate: 0.004407 deg/s,
      cmd heading: 328.843501 deg,
      new cmd heading: 328.848292 deg.

2025-06-05T16:52:08.678Z,1749142328.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739485 target range: 125.258553 and range: 123.90 m.
2025-06-05T16:52:09.133Z,1749142329.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:09.140Z,1749142329.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 118.138016 m,
      bearing: 337.762273 deg,
      approach rate: -0.562245 m/s,
      LOS rate: 0.004675 deg/s,
      cmd heading: 328.848282 deg,
      new cmd heading: 328.854996 deg.

2025-06-05T16:52:09.141Z,1749142329.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739603 target range: 125.258553 and range: 123.90 m.
2025-06-05T16:52:09.489Z,1749142329.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:09.492Z,1749142329.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:09.495Z,1749142329.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 117.919975 m,
      bearing: 337.765297 deg,
      approach rate: -0.608080 m/s,
      LOS rate: 0.008449 deg/s,
      cmd heading: 328.855003 deg,
      new cmd heading: 328.864092 deg.

2025-06-05T16:52:09.496Z,1749142329.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739761 target range: 125.258553 and range: 123.90 m.
2025-06-05T16:52:09.507Z,1749142329.507 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:09.507Z,1749142329.507 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:09.507Z,1749142329.507 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:09.759Z,1749142329.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013216
2025-06-05T16:52:09.867Z,1749142329.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:09.870Z,1749142329.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 117.702469 m,
      bearing: 337.768107 deg,
      approach rate: -0.579306 m/s,
      LOS rate: 0.007500 deg/s,
      cmd heading: 328.864101 deg,
      new cmd heading: 328.872549 deg.

2025-06-05T16:52:09.871Z,1749142329.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739909 target range: 125.258553 and range: 123.90 m.
2025-06-05T16:52:10.011Z,1749142330.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265218
2025-06-05T16:52:10.264Z,1749142330.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518131
2025-06-05T16:52:10.294Z,1749142330.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:10.298Z,1749142330.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 117.457642 m,
      bearing: 337.770542 deg,
      approach rate: -0.574014 m/s,
      LOS rate: 0.005721 deg/s,
      cmd heading: 328.872543 deg,
      new cmd heading: 328.879863 deg.

2025-06-05T16:52:10.325Z,1749142330.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740036 target range: 125.258553 and range: 123.90 m.
2025-06-05T16:52:10.516Z,1749142330.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770050
2025-06-05T16:52:10.692Z,1749142330.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:10.695Z,1749142330.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 117.228851 m,
      bearing: 337.772764 deg,
      approach rate: -0.574080 m/s,
      LOS rate: 0.005585 deg/s,
      cmd heading: 328.879865 deg,
      new cmd heading: 328.886542 deg.

2025-06-05T16:52:10.696Z,1749142330.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740153 target range: 125.258553 and range: 123.90 m.
2025-06-05T16:52:10.767Z,1749142330.767 [DAT](INFO): DAT read: Rx Time:16:52:09.4219

2025-06-05T16:52:10.768Z,1749142330.768 [DAT](INFO): Rx dataTimestamp_ set to:1749142330.767580
2025-06-05T16:52:10.768Z,1749142330.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022453
2025-06-05T16:52:11.019Z,1749142331.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273159
2025-06-05T16:52:11.171Z,1749142331.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:11.173Z,1749142331.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 116.964264 m,
      bearing: 337.775343 deg,
      approach rate: -0.552535 m/s,
      LOS rate: 0.005400 deg/s,
      cmd heading: 328.886531 deg,
      new cmd heading: 328.894288 deg.

2025-06-05T16:52:11.175Z,1749142331.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740288 target range: 125.258553 and range: 123.90 m.
2025-06-05T16:52:11.272Z,1749142331.272 [DAT](INFO): DAT read: Range 10 to 50 : 121.7 m  (Round-trip  162.3 ms) speed  0.6 m/s

2025-06-05T16:52:11.273Z,1749142331.273 [DAT](INFO): DAT read: user:2444>

2025-06-05T16:52:11.274Z,1749142331.274 [DAT](INFO): DAT read: Tx time:16:52:10.5055

2025-06-05T16:52:11.274Z,1749142331.274 [DAT](INFO): Ping request sent.
2025-06-05T16:52:11.274Z,1749142331.274 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:52:11.274Z,1749142331.274 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:52:11.274Z,1749142331.274 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:11.275Z,1749142331.275 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:11.524Z,1749142331.524 [DAT](INFO): DAT read: TxSync time:16:52:10.5047

2025-06-05T16:52:11.547Z,1749142331.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:11.555Z,1749142331.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 121.699997 m,
      deltaT: 3.528051 s,
      deltaX: -2.200005 m,
      approachRate: -0.623575 m/s,
      rangeRepo size: 4

2025-06-05T16:52:11.556Z,1749142331.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:11.563Z,1749142331.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 116.746063 m,
      bearing: 337.776343 deg,
      approach rate: -0.575378 m/s,
      LOS rate: 0.002640 deg/s,
      cmd heading: 328.894290 deg,
      new cmd heading: 328.897293 deg.

2025-06-05T16:52:11.566Z,1749142331.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740341 target range: 125.258553 and range: 121.70 m.
2025-06-05T16:52:11.775Z,1749142331.775 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:11.775Z,1749142331.775 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:11.775Z,1749142331.775 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:11.895Z,1749142331.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:11.898Z,1749142331.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 116.522736 m,
      bearing: 337.777491 deg,
      approach rate: -0.647092 m/s,
      LOS rate: 0.003333 deg/s,
      cmd heading: 328.897296 deg,
      new cmd heading: 328.900747 deg.

2025-06-05T16:52:11.899Z,1749142331.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740401 target range: 125.258553 and range: 121.70 m.
2025-06-05T16:52:12.033Z,1749142332.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759118
2025-06-05T16:52:12.287Z,1749142332.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013174
2025-06-05T16:52:12.321Z,1749142332.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:12.324Z,1749142332.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 116.258026 m,
      bearing: 337.776822 deg,
      approach rate: -0.621943 m/s,
      LOS rate: -0.001574 deg/s,
      cmd heading: 328.900738 deg,
      new cmd heading: 328.898728 deg.

2025-06-05T16:52:12.325Z,1749142332.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740366 target range: 125.258553 and range: 121.70 m.
2025-06-05T16:52:12.539Z,1749142332.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265015
2025-06-05T16:52:12.700Z,1749142332.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:12.703Z,1749142332.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 116.022781 m,
      bearing: 337.776141 deg,
      approach rate: -0.621213 m/s,
      LOS rate: -0.001801 deg/s,
      cmd heading: 328.898716 deg,
      new cmd heading: 328.896670 deg.

2025-06-05T16:52:12.704Z,1749142332.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740330 target range: 125.258553 and range: 121.70 m.
2025-06-05T16:52:12.792Z,1749142332.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517870
2025-06-05T16:52:13.043Z,1749142333.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769123
2025-06-05T16:52:13.178Z,1749142333.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:13.185Z,1749142333.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 115.758965 m,
      bearing: 337.775157 deg,
      approach rate: -0.551675 m/s,
      LOS rate: -0.002063 deg/s,
      cmd heading: 328.896667 deg,
      new cmd heading: 328.893708 deg.

2025-06-05T16:52:13.186Z,1749142333.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740278 target range: 125.258553 and range: 121.70 m.
2025-06-05T16:52:13.295Z,1749142333.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021111
2025-06-05T16:52:13.549Z,1749142333.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274754
2025-06-05T16:52:13.551Z,1749142333.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:13.553Z,1749142333.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:13.566Z,1749142333.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 115.488007 m,
      bearing: 337.772201 deg,
      approach rate: -0.721887 m/s,
      LOS rate: -0.007895 deg/s,
      cmd heading: 328.893717 deg,
      new cmd heading: 328.884826 deg.

2025-06-05T16:52:13.571Z,1749142333.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740123 target range: 125.258553 and range: 121.70 m.
2025-06-05T16:52:13.801Z,1749142333.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526568
2025-06-05T16:52:13.927Z,1749142333.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:13.929Z,1749142333.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 115.241005 m,
      bearing: 337.769424 deg,
      approach rate: -0.660899 m/s,
      LOS rate: -0.007447 deg/s,
      cmd heading: 328.884837 deg,
      new cmd heading: 328.876488 deg.

2025-06-05T16:52:13.931Z,1749142333.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739977 target range: 125.258553 and range: 121.70 m.
2025-06-05T16:52:14.052Z,1749142334.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777984
2025-06-05T16:52:14.303Z,1749142334.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029086
2025-06-05T16:52:14.360Z,1749142334.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:14.365Z,1749142334.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 114.942490 m,
      bearing: 337.761097 deg,
      approach rate: -0.688842 m/s,
      LOS rate: -0.019265 deg/s,
      cmd heading: 328.876477 deg,
      new cmd heading: 328.851432 deg.

2025-06-05T16:52:14.371Z,1749142334.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739540 target range: 125.258553 and range: 121.70 m.
2025-06-05T16:52:14.555Z,1749142334.555 [DAT](INFO): DAT read: Rx Time:16:52:13.0685

2025-06-05T16:52:14.556Z,1749142334.556 [DAT](INFO): Rx dataTimestamp_ set to:1749142334.555303
2025-06-05T16:52:14.556Z,1749142334.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282154
2025-06-05T16:52:14.731Z,1749142334.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m.
2025-06-05T16:52:14.734Z,1749142334.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.258553 m,
      nav range: 114.684296 m,
      bearing: 337.753998 deg,
      approach rate: -0.705822 m/s,
      LOS rate: -0.019448 deg/s,
      cmd heading: 328.851424 deg,
      new cmd heading: 328.830081 deg.

2025-06-05T16:52:14.739Z,1749142334.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739168 target range: 125.258553 and range: 121.70 m.
2025-06-05T16:52:14.808Z,1749142334.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533773
2025-06-05T16:52:15.067Z,1749142335.067 [DAT](INFO): DAT read: 16:52:13.0685 LVL= 23296, 26689, 19090, 27107, AGC= 67, IDX= 407, 0.06, 0.917,-0.466, 0.685, 0.299, PHS= 0.707,-0.717, 0.384, RAW= 137.5,  -5.8, CAL= 143.2, -15.9, ROT=   6.8,  15.9

2025-06-05T16:52:15.070Z,1749142335.070 [DAT](INFO): got valid direction response:
 16:52:13.0685 LVL= 23296, 26689, 19090, 27107, AGC= 67, IDX= 407, 0.06, 0.917,-0.466, 0.685, 0.299, PHS= 0.707,-0.717, 0.384, RAW= 137.5,  -5.8, CAL= 143.2, -15.9, ROT=   6.8,  15.9

2025-06-05T16:52:15.072Z,1749142335.072 [DAT](INFO): DAT read: Bearing   6.8,  15.9 (Local)

2025-06-05T16:52:15.072Z,1749142335.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.8,  15.9 (Local)

2025-06-05T16:52:15.073Z,1749142335.073 [DAT](INFO): DAT read: Range 10 to 50 : 119.1 m  (Round-trip  158.8 ms) speed  0.7 m/s

2025-06-05T16:52:15.074Z,1749142335.074 [DAT](INFO): DAT read: user:2445>

2025-06-05T16:52:15.075Z,1749142335.075 [DAT](INFO): DAT read: Tx time:16:52:14.1555

2025-06-05T16:52:15.076Z,1749142335.076 [DAT](INFO): Ping request sent.
2025-06-05T16:52:15.076Z,1749142335.076 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:52:15.076Z,1749142335.076 [DAT](INFO): DAT read: TxSync time:16:52:14.1547

2025-06-05T16:52:15.077Z,1749142335.077 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:52:15.078Z,1749142335.078 [DAT](INFO): direction in FSK: [0.954976,0.113874,-0.273959]
2025-06-05T16:52:15.078Z,1749142335.078 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:15.078Z,1749142335.078 [DAT](INFO): publishing direction and range info
2025-06-05T16:52:15.111Z,1749142335.111 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:15.111Z,1749142335.111 [DAT](INFO): publishing direction and range info
2025-06-05T16:52:15.271Z,1749142335.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.099998 m,
      deltaT: 3.788165 s,
      deltaX: -2.599998 m,
      approachRate: -0.686348 m/s,
      rangeRepo size: 4

2025-06-05T16:52:15.273Z,1749142335.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.116821 m,
      bearing: 337.380645 deg,
      lat: 36.906269 deg,
      lon: -122.115842 deg,
      deltaT: 11.100187 s,
      deltaX: -7.141731 m,
      approachRate: -0.643388 m/s,
      posRepo size: 4

2025-06-05T16:52:15.273Z,1749142335.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.12 m.
2025-06-05T16:52:15.295Z,1749142335.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.116821 m,
      nav range: 114.310196 m,
      bearing: 337.550066 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019448 deg/s,
      cmd heading: 328.830087 deg,
      new cmd heading: 328.798832 deg.

2025-06-05T16:52:15.298Z,1749142335.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738622 target range: 118.116821 and range: 119.10 m.
2025-06-05T16:52:15.628Z,1749142335.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:15.635Z,1749142335.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.12 m.
2025-06-05T16:52:15.638Z,1749142335.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.116821 m,
      nav range: 114.037727 m,
      bearing: 337.540615 deg,
      approach rate: -0.729626 m/s,
      LOS rate: -0.025368 deg/s,
      cmd heading: 328.798832 deg,
      new cmd heading: 328.770412 deg.

2025-06-05T16:52:15.643Z,1749142335.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738126 target range: 118.116821 and range: 119.10 m.
2025-06-05T16:52:15.815Z,1749142335.815 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:15.815Z,1749142335.815 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:15.815Z,1749142335.815 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:16.015Z,1749142336.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.12 m.
2025-06-05T16:52:16.022Z,1749142336.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.116821 m,
      nav range: 113.744499 m,
      bearing: 337.530795 deg,
      approach rate: -0.771192 m/s,
      LOS rate: -0.025895 deg/s,
      cmd heading: 328.770418 deg,
      new cmd heading: 328.740881 deg.

2025-06-05T16:52:16.023Z,1749142336.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737611 target range: 118.116821 and range: 119.10 m.
2025-06-05T16:52:16.071Z,1749142336.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994811
2025-06-05T16:52:16.319Z,1749142336.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243490
2025-06-05T16:52:16.417Z,1749142336.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.12 m.
2025-06-05T16:52:16.420Z,1749142336.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.116821 m,
      nav range: 113.454491 m,
      bearing: 337.520808 deg,
      approach rate: -0.721579 m/s,
      LOS rate: -0.024913 deg/s,
      cmd heading: 328.740884 deg,
      new cmd heading: 328.710846 deg.

2025-06-05T16:52:16.421Z,1749142336.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737087 target range: 118.116821 and range: 119.10 m.
2025-06-05T16:52:16.571Z,1749142336.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495634
2025-06-05T16:52:16.811Z,1749142336.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.12 m.
2025-06-05T16:52:16.816Z,1749142336.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.116821 m,
      nav range: 113.169174 m,
      bearing: 337.511195 deg,
      approach rate: -0.724639 m/s,
      LOS rate: -0.024476 deg/s,
      cmd heading: 328.710859 deg,
      new cmd heading: 328.681948 deg.

2025-06-05T16:52:16.817Z,1749142336.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736582 target range: 118.116821 and range: 119.10 m.
2025-06-05T16:52:16.823Z,1749142336.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747576
2025-06-05T16:52:17.075Z,1749142337.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999272
2025-06-05T16:52:17.313Z,1749142337.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.12 m.
2025-06-05T16:52:17.321Z,1749142337.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.116821 m,
      nav range: 112.821869 m,
      bearing: 337.501550 deg,
      approach rate: -0.692365 m/s,
      LOS rate: -0.019287 deg/s,
      cmd heading: 328.681953 deg,
      new cmd heading: 328.652930 deg.

2025-06-05T16:52:17.322Z,1749142337.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736076 target range: 118.116821 and range: 119.10 m.
2025-06-05T16:52:17.327Z,1749142337.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251536
2025-06-05T16:52:17.579Z,1749142337.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503435
2025-06-05T16:52:17.720Z,1749142337.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:17.722Z,1749142337.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.12 m.
2025-06-05T16:52:17.725Z,1749142337.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.116821 m,
      nav range: 112.501022 m,
      bearing: 337.492587 deg,
      approach rate: -0.783678 m/s,
      LOS rate: -0.021955 deg/s,
      cmd heading: 328.652939 deg,
      new cmd heading: 328.625973 deg.

2025-06-05T16:52:17.726Z,1749142337.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735605 target range: 118.116821 and range: 119.10 m.
2025-06-05T16:52:17.832Z,1749142337.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756183
2025-06-05T16:52:18.072Z,1749142338.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.12 m.
2025-06-05T16:52:18.075Z,1749142338.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.116821 m,
      nav range: 112.244240 m,
      bearing: 337.485463 deg,
      approach rate: -0.734411 m/s,
      LOS rate: -0.020423 deg/s,
      cmd heading: 328.625973 deg,
      new cmd heading: 328.604551 deg.

2025-06-05T16:52:18.076Z,1749142338.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735231 target range: 118.116821 and range: 119.10 m.
2025-06-05T16:52:18.083Z,1749142338.083 [DAT](INFO): DAT read: Rx Time:16:52:16.7154

2025-06-05T16:52:18.084Z,1749142338.084 [DAT](INFO): Rx dataTimestamp_ set to:1749142338.083342
2025-06-05T16:52:18.084Z,1749142338.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008506
2025-06-05T16:52:18.335Z,1749142338.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259774
2025-06-05T16:52:18.505Z,1749142338.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.12 m.
2025-06-05T16:52:18.522Z,1749142338.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.116821 m,
      nav range: 111.957901 m,
      bearing: 337.478143 deg,
      approach rate: -0.664831 m/s,
      LOS rate: -0.017039 deg/s,
      cmd heading: 328.604554 deg,
      new cmd heading: 328.582538 deg.

2025-06-05T16:52:18.530Z,1749142338.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734847 target range: 118.116821 and range: 119.10 m.
2025-06-05T16:52:18.595Z,1749142338.595 [DAT](INFO): DAT read: 16:52:16.7154 LVL= 21936, 28129, 19650, 32755, AGC= 66, IDX= 406,-0.17, 1.667, 0.314, 1.416, 1.084, PHS= 0.671,-0.723, 0.329, RAW= 136.4,  -4.5, CAL= 141.9, -14.4, ROT=   8.1,  14.4

2025-06-05T16:52:18.596Z,1749142338.596 [DAT](INFO): got valid direction response:
 16:52:16.7154 LVL= 21936, 28129, 19650, 32755, AGC= 66, IDX= 406,-0.17, 1.667, 0.314, 1.416, 1.084, PHS= 0.671,-0.723, 0.329, RAW= 136.4,  -4.5, CAL= 141.9, -14.4, ROT=   8.1,  14.4

2025-06-05T16:52:18.598Z,1749142338.598 [DAT](INFO): DAT read: Bearing   8.1,  14.4 (Local)

2025-06-05T16:52:18.599Z,1749142338.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.1,  14.4 (Local)

2025-06-05T16:52:18.601Z,1749142338.601 [DAT](INFO): DAT read: Range 10 to 50 : 116.7 m  (Round-trip  155.6 ms) speed  0.5 m/s

2025-06-05T16:52:18.603Z,1749142338.603 [DAT](INFO): DAT read: user:2446>

2025-06-05T16:52:18.604Z,1749142338.604 [DAT](INFO): DAT read: Tx time:16:52:17.8056

2025-06-05T16:52:18.604Z,1749142338.604 [DAT](INFO): Ping request sent.
2025-06-05T16:52:18.604Z,1749142338.604 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:52:18.605Z,1749142338.605 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:52:18.607Z,1749142338.607 [DAT](INFO): direction in FSK: [0.958920,0.136475,-0.248690]
2025-06-05T16:52:18.608Z,1749142338.608 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:18.608Z,1749142338.608 [DAT](INFO): publishing direction and range info
2025-06-05T16:52:18.613Z,1749142338.613 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:18.614Z,1749142338.614 [DAT](INFO): publishing direction and range info
2025-06-05T16:52:18.839Z,1749142338.839 [DAT](INFO): DAT read: TxSync time:16:52:17.8048

2025-06-05T16:52:18.892Z,1749142338.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.699997 m,
      deltaT: 3.527881 s,
      deltaX: -2.400002 m,
      approachRate: -0.680295 m/s,
      rangeRepo size: 4

2025-06-05T16:52:18.894Z,1749142338.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 115.736557 m,
      bearing: 337.819603 deg,
      lat: 36.906271 deg,
      lon: -122.115842 deg,
      deltaT: 3.527881 s,
      deltaX: -2.380264 m,
      approachRate: -0.674701 m/s,
      posRepo size: 4

2025-06-05T16:52:18.899Z,1749142338.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.74 m.
2025-06-05T16:52:18.901Z,1749142338.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.736557 m,
      nav range: 111.831413 m,
      bearing: 337.502738 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017039 deg/s,
      cmd heading: 328.582533 deg,
      new cmd heading: 328.562911 deg.

2025-06-05T16:52:18.906Z,1749142338.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734505 target range: 115.736557 and range: 116.70 m.
2025-06-05T16:52:19.335Z,1749142339.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.74 m.
2025-06-05T16:52:19.337Z,1749142339.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.736557 m,
      nav range: 111.511330 m,
      bearing: 337.497630 deg,
      approach rate: -0.714393 m/s,
      LOS rate: -0.011433 deg/s,
      cmd heading: 328.562917 deg,
      new cmd heading: 328.547550 deg.

2025-06-05T16:52:19.359Z,1749142339.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734237 target range: 115.736557 and range: 116.70 m.
2025-06-05T16:52:19.660Z,1749142339.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.74 m.
2025-06-05T16:52:19.681Z,1749142339.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.736557 m,
      nav range: 111.286957 m,
      bearing: 337.493918 deg,
      approach rate: -0.688452 m/s,
      LOS rate: -0.011412 deg/s,
      cmd heading: 328.547563 deg,
      new cmd heading: 328.536404 deg.

2025-06-05T16:52:19.687Z,1749142339.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734042 target range: 115.736557 and range: 116.70 m.
2025-06-05T16:52:20.100Z,1749142340.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:20.102Z,1749142340.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.74 m.
2025-06-05T16:52:20.103Z,1749142340.103 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:20.103Z,1749142340.103 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:20.103Z,1749142340.103 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:20.112Z,1749142340.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.736557 m,
      nav range: 110.990318 m,
      bearing: 337.488780 deg,
      approach rate: -0.672039 m/s,
      LOS rate: -0.011673 deg/s,
      cmd heading: 328.536416 deg,
      new cmd heading: 328.520958 deg.

2025-06-05T16:52:20.119Z,1749142340.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733772 target range: 115.736557 and range: 116.70 m.
2025-06-05T16:52:20.355Z,1749142340.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750534
2025-06-05T16:52:20.549Z,1749142340.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.74 m.
2025-06-05T16:52:20.556Z,1749142340.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.736557 m,
      nav range: 110.710274 m,
      bearing: 337.489619 deg,
      approach rate: -0.625597 m/s,
      LOS rate: 0.001879 deg/s,
      cmd heading: 328.520952 deg,
      new cmd heading: 328.523476 deg.

2025-06-05T16:52:20.557Z,1749142340.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733816 target range: 115.736557 and range: 116.70 m.
2025-06-05T16:52:20.607Z,1749142340.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002970
2025-06-05T16:52:20.859Z,1749142340.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254578
2025-06-05T16:52:20.893Z,1749142340.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.74 m.
2025-06-05T16:52:20.900Z,1749142340.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.736557 m,
      nav range: 110.484886 m,
      bearing: 337.490130 deg,
      approach rate: -0.655078 m/s,
      LOS rate: 0.001489 deg/s,
      cmd heading: 328.523466 deg,
      new cmd heading: 328.525003 deg.

2025-06-05T16:52:20.901Z,1749142340.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733843 target range: 115.736557 and range: 116.70 m.
2025-06-05T16:52:21.112Z,1749142341.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507229
2025-06-05T16:52:21.343Z,1749142341.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.74 m.
2025-06-05T16:52:21.346Z,1749142341.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.736557 m,
      nav range: 110.196602 m,
      bearing: 337.489701 deg,
      approach rate: -0.640834 m/s,
      LOS rate: -0.000957 deg/s,
      cmd heading: 328.524996 deg,
      new cmd heading: 328.523705 deg.

2025-06-05T16:52:21.349Z,1749142341.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733820 target range: 115.736557 and range: 116.70 m.
2025-06-05T16:52:21.365Z,1749142341.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759930
2025-06-05T16:52:21.620Z,1749142341.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015391
2025-06-05T16:52:21.688Z,1749142341.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.74 m.
2025-06-05T16:52:21.696Z,1749142341.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.736557 m,
      nav range: 109.989113 m,
      bearing: 337.489414 deg,
      approach rate: -0.601217 m/s,
      LOS rate: -0.000833 deg/s,
      cmd heading: 328.523712 deg,
      new cmd heading: 328.522849 deg.

2025-06-05T16:52:21.702Z,1749142341.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733805 target range: 115.736557 and range: 116.70 m.
2025-06-05T16:52:21.867Z,1749142341.867 [DAT](INFO): DAT read: Rx Time:16:52:20.3624

2025-06-05T16:52:21.868Z,1749142341.868 [DAT](INFO): Rx dataTimestamp_ set to:1749142341.867265
2025-06-05T16:52:21.868Z,1749142341.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263606
2025-06-05T16:52:22.119Z,1749142342.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514746
2025-06-05T16:52:22.120Z,1749142342.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:22.122Z,1749142342.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.74 m.
2025-06-05T16:52:22.142Z,1749142342.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.736557 m,
      nav range: 109.733475 m,
      bearing: 337.489083 deg,
      approach rate: -0.589801 m/s,
      LOS rate: -0.000765 deg/s,
      cmd heading: 328.522837 deg,
      new cmd heading: 328.521842 deg.

2025-06-05T16:52:22.145Z,1749142342.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733788 target range: 115.736557 and range: 116.70 m.
2025-06-05T16:52:22.377Z,1749142342.377 [DAT](INFO): DAT read: 16:52:20.3624 LVL= 32560, 32753, 28066, 32755, AGC= 68, IDX= 406, 0.37,-0.464,-1.828,-0.742,-1.096, PHS= 0.720,-0.685, 0.351, RAW= 135.3,  -6.2, CAL= 141.0, -16.8, ROT=   9.0,  16.8

2025-06-05T16:52:22.379Z,1749142342.379 [DAT](INFO): got valid direction response:
 16:52:20.3624 LVL= 32560, 32753, 28066, 32755, AGC= 68, IDX= 406, 0.37,-0.464,-1.828,-0.742,-1.096, PHS= 0.720,-0.685, 0.351, RAW= 135.3,  -6.2, CAL= 141.0, -16.8, ROT=   9.0,  16.8

2025-06-05T16:52:22.380Z,1749142342.380 [DAT](INFO): DAT read: Bearing   9.0,  16.8 (Local)

2025-06-05T16:52:22.381Z,1749142342.381 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.0,  16.8 (Local)

2025-06-05T16:52:22.387Z,1749142342.387 [DAT](INFO): DAT read: Range 10 to 50 : 114.4 m  (Round-trip  152.6 ms) speed  0.6 m/s

2025-06-05T16:52:22.388Z,1749142342.388 [DAT](INFO): DAT read: user:2447>

2025-06-05T16:52:22.389Z,1749142342.389 [DAT](INFO): DAT read: Tx time:16:52:21.4556

2025-06-05T16:52:22.389Z,1749142342.389 [DAT](INFO): Ping request sent.
2025-06-05T16:52:22.389Z,1749142342.389 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:52:22.390Z,1749142342.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:52:22.391Z,1749142342.391 [DAT](INFO): direction in FSK: [0.945533,0.149758,-0.289032]
2025-06-05T16:52:22.391Z,1749142342.391 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:22.392Z,1749142342.392 [DAT](INFO): publishing direction and range info
2025-06-05T16:52:22.395Z,1749142342.395 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:22.395Z,1749142342.395 [DAT](INFO): publishing direction and range info
2025-06-05T16:52:22.617Z,1749142342.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.400002 m,
      deltaT: 3.784601 s,
      deltaX: -2.299995 m,
      approachRate: -0.607725 m/s,
      rangeRepo size: 4

2025-06-05T16:52:22.624Z,1749142342.624 [DAT](INFO): DAT read: TxSync time:16:52:21.4548

2025-06-05T16:52:22.632Z,1749142342.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.456375 m,
      bearing: 339.304392 deg,
      lat: 36.906271 deg,
      lon: -122.115838 deg,
      deltaT: 3.784601 s,
      deltaX: -2.280182 m,
      approachRate: -0.602489 m/s,
      posRepo size: 4

2025-06-05T16:52:22.634Z,1749142342.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:22.637Z,1749142342.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 109.293343 m,
      bearing: 337.665106 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000765 deg/s,
      cmd heading: 328.521854 deg,
      new cmd heading: 328.520718 deg.

2025-06-05T16:52:22.638Z,1749142342.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733768 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:22.958Z,1749142342.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:22.961Z,1749142342.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 109.082779 m,
      bearing: 337.669502 deg,
      approach rate: -0.623654 m/s,
      LOS rate: 0.013045 deg/s,
      cmd heading: 328.520706 deg,
      new cmd heading: 328.533920 deg.

2025-06-05T16:52:22.962Z,1749142342.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733999 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:23.447Z,1749142343.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:23.487Z,1749142343.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 108.827873 m,
      bearing: 337.673368 deg,
      approach rate: -0.526303 m/s,
      LOS rate: 0.008001 deg/s,
      cmd heading: 328.533930 deg,
      new cmd heading: 328.545555 deg.

2025-06-05T16:52:23.488Z,1749142343.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734202 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:23.838Z,1749142343.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:23.844Z,1749142343.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 108.563065 m,
      bearing: 337.677747 deg,
      approach rate: -0.662905 m/s,
      LOS rate: 0.010989 deg/s,
      cmd heading: 328.545568 deg,
      new cmd heading: 328.558737 deg.

2025-06-05T16:52:23.845Z,1749142343.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734432 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:24.223Z,1749142344.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:24.225Z,1749142344.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:24.228Z,1749142344.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 108.322098 m,
      bearing: 337.681870 deg,
      approach rate: -0.621450 m/s,
      LOS rate: 0.010656 deg/s,
      cmd heading: 328.558737 deg,
      new cmd heading: 328.571132 deg.

2025-06-05T16:52:24.230Z,1749142344.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734648 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:24.387Z,1749142344.387 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:24.387Z,1749142344.387 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:24.388Z,1749142344.388 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:24.639Z,1749142344.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249895
2025-06-05T16:52:24.679Z,1749142344.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:24.688Z,1749142344.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 108.071869 m,
      bearing: 337.687505 deg,
      approach rate: -0.557844 m/s,
      LOS rate: 0.012591 deg/s,
      cmd heading: 328.571140 deg,
      new cmd heading: 328.588084 deg.

2025-06-05T16:52:24.689Z,1749142344.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734944 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:24.891Z,1749142344.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501750
2025-06-05T16:52:25.048Z,1749142345.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:25.050Z,1749142345.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 107.833443 m,
      bearing: 337.692961 deg,
      approach rate: -0.638131 m/s,
      LOS rate: 0.014635 deg/s,
      cmd heading: 328.588079 deg,
      new cmd heading: 328.604484 deg.

2025-06-05T16:52:25.051Z,1749142345.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735230 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:25.145Z,1749142345.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755425
2025-06-05T16:52:25.395Z,1749142345.395 [DAT](INFO): DAT read: Rx Time:16:52:24.0091

2025-06-05T16:52:25.396Z,1749142345.396 [DAT](INFO): Rx dataTimestamp_ set to:1749142345.395272
2025-06-05T16:52:25.397Z,1749142345.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007123
2025-06-05T16:52:25.490Z,1749142345.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:25.493Z,1749142345.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 107.566574 m,
      bearing: 337.695005 deg,
      approach rate: -0.603323 m/s,
      LOS rate: 0.004633 deg/s,
      cmd heading: 328.604472 deg,
      new cmd heading: 328.610620 deg.

2025-06-05T16:52:25.494Z,1749142345.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735337 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:25.648Z,1749142345.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258991
2025-06-05T16:52:25.776Z,1749142345.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:52:25.865Z,1749142345.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:25.868Z,1749142345.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 107.339905 m,
      bearing: 337.696733 deg,
      approach rate: -0.604297 m/s,
      LOS rate: 0.004616 deg/s,
      cmd heading: 328.610619 deg,
      new cmd heading: 328.615813 deg.

2025-06-05T16:52:25.869Z,1749142345.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735428 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:25.908Z,1749142345.908 [DAT](INFO): DAT read: 16:52:24.0091 LVL= 28512, 32753, 25538, 29363, AGC= 68, IDX= 406,-0.49, 2.513, 1.051, 2.255, 1.896, PHS= 0.705,-0.798, 0.356, RAW= 137.2,  -3.9, CAL= 142.7, -13.7, ROT=   7.3,  13.7

2025-06-05T16:52:25.910Z,1749142345.910 [DAT](INFO): got valid direction response:
 16:52:24.0091 LVL= 28512, 32753, 25538, 29363, AGC= 68, IDX= 406,-0.49, 2.513, 1.051, 2.255, 1.896, PHS= 0.705,-0.798, 0.356, RAW= 137.2,  -3.9, CAL= 142.7, -13.7, ROT=   7.3,  13.7

2025-06-05T16:52:25.911Z,1749142345.911 [DAT](INFO): DAT read: $Error in header

2025-06-05T16:52:25.911Z,1749142345.911 [DAT](INFO): Received a bad header
2025-06-05T16:52:25.923Z,1749142345.923 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T16:52:25.924Z,1749142345.924 [DAT](INFO): direction in FSK: [0.963674,0.123450,-0.236838]
2025-06-05T16:52:25.931Z,1749142345.931 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:25.931Z,1749142345.931 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:25.931Z,1749142345.931 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:26.152Z,1749142346.152 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:26.152Z,1749142346.152 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:26.153Z,1749142346.153 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:26.245Z,1749142346.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:26.248Z,1749142346.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:26.251Z,1749142346.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 107.108597 m,
      bearing: 337.698477 deg,
      approach rate: -0.603786 m/s,
      LOS rate: 0.004564 deg/s,
      cmd heading: 328.615810 deg,
      new cmd heading: 328.621055 deg.

2025-06-05T16:52:26.252Z,1749142346.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735519 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:26.403Z,1749142346.403 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:26.403Z,1749142346.403 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:26.403Z,1749142346.403 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:26.655Z,1749142346.655 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:26.655Z,1749142346.655 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:26.655Z,1749142346.655 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:26.716Z,1749142346.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:26.725Z,1749142346.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 106.824509 m,
      bearing: 337.699299 deg,
      approach rate: -0.607188 m/s,
      LOS rate: 0.001760 deg/s,
      cmd heading: 328.621055 deg,
      new cmd heading: 328.623526 deg.

2025-06-05T16:52:26.732Z,1749142346.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735562 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:26.779Z,1749142346.779 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:52:26.907Z,1749142346.907 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:26.907Z,1749142346.907 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:26.907Z,1749142346.907 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:27.047Z,1749142347.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:27.076Z,1749142347.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 106.607216 m,
      bearing: 337.699766 deg,
      approach rate: -0.658543 m/s,
      LOS rate: 0.001420 deg/s,
      cmd heading: 328.623514 deg,
      new cmd heading: 328.624920 deg.

2025-06-05T16:52:27.077Z,1749142347.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735587 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:27.161Z,1749142347.161 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:27.161Z,1749142347.161 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:27.161Z,1749142347.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:27.411Z,1749142347.411 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:27.411Z,1749142347.411 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:27.411Z,1749142347.411 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:27.508Z,1749142347.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:27.511Z,1749142347.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 106.310463 m,
      bearing: 337.696680 deg,
      approach rate: -0.642377 m/s,
      LOS rate: -0.006699 deg/s,
      cmd heading: 328.624908 deg,
      new cmd heading: 328.615624 deg.

2025-06-05T16:52:27.512Z,1749142347.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735425 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:27.663Z,1749142347.663 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:27.664Z,1749142347.664 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:27.664Z,1749142347.664 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:27.915Z,1749142347.915 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:27.915Z,1749142347.915 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:27.915Z,1749142347.915 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:28.002Z,1749142348.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:28.005Z,1749142348.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 105.994278 m,
      bearing: 337.693373 deg,
      approach rate: -0.640388 m/s,
      LOS rate: -0.006718 deg/s,
      cmd heading: 328.615619 deg,
      new cmd heading: 328.605668 deg.

2025-06-05T16:52:28.006Z,1749142348.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735251 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:28.167Z,1749142348.167 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:28.167Z,1749142348.167 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:28.167Z,1749142348.167 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:28.296Z,1749142348.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:28.300Z,1749142348.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:28.307Z,1749142348.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 105.802895 m,
      bearing: 337.691362 deg,
      approach rate: -0.641944 m/s,
      LOS rate: -0.006759 deg/s,
      cmd heading: 328.605674 deg,
      new cmd heading: 328.599629 deg.

2025-06-05T16:52:28.308Z,1749142348.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735146 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:28.419Z,1749142348.419 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:28.419Z,1749142348.419 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:28.419Z,1749142348.419 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:28.671Z,1749142348.671 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:28.671Z,1749142348.671 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:28.671Z,1749142348.671 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:28.732Z,1749142348.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:28.751Z,1749142348.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 105.514359 m,
      bearing: 337.683615 deg,
      approach rate: -0.667382 m/s,
      LOS rate: -0.017967 deg/s,
      cmd heading: 328.599636 deg,
      new cmd heading: 328.576332 deg.

2025-06-05T16:52:28.752Z,1749142348.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734739 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:28.928Z,1749142348.928 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:28.928Z,1749142348.928 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:28.928Z,1749142348.928 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:29.163Z,1749142349.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:29.167Z,1749142349.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 105.229286 m,
      bearing: 337.675688 deg,
      approach rate: -0.661849 m/s,
      LOS rate: -0.018453 deg/s,
      cmd heading: 328.576331 deg,
      new cmd heading: 328.552487 deg.

2025-06-05T16:52:29.168Z,1749142349.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734323 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:29.179Z,1749142349.179 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:29.179Z,1749142349.179 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:29.179Z,1749142349.179 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:29.432Z,1749142349.432 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:29.432Z,1749142349.432 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:29.432Z,1749142349.432 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:29.617Z,1749142349.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:29.620Z,1749142349.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 104.907974 m,
      bearing: 337.667285 deg,
      approach rate: -0.707842 m/s,
      LOS rate: -0.018570 deg/s,
      cmd heading: 328.552480 deg,
      new cmd heading: 328.527192 deg.

2025-06-05T16:52:29.621Z,1749142349.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733881 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:29.683Z,1749142349.683 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:29.683Z,1749142349.683 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:29.683Z,1749142349.683 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:29.935Z,1749142349.935 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:29.935Z,1749142349.935 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:29.935Z,1749142349.935 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:29.989Z,1749142349.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:29.997Z,1749142349.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 104.653618 m,
      bearing: 337.660511 deg,
      approach rate: -0.682808 m/s,
      LOS rate: -0.018229 deg/s,
      cmd heading: 328.527181 deg,
      new cmd heading: 328.506810 deg.

2025-06-05T16:52:30.003Z,1749142350.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733525 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:30.187Z,1749142350.187 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:30.187Z,1749142350.187 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:30.187Z,1749142350.187 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:30.357Z,1749142350.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:30.365Z,1749142350.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:30.368Z,1749142350.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 104.384674 m,
      bearing: 337.653308 deg,
      approach rate: -0.717469 m/s,
      LOS rate: -0.019264 deg/s,
      cmd heading: 328.506800 deg,
      new cmd heading: 328.485136 deg.

2025-06-05T16:52:30.369Z,1749142350.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733147 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:30.441Z,1749142350.441 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:30.442Z,1749142350.442 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:30.442Z,1749142350.442 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:30.691Z,1749142350.691 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:30.691Z,1749142350.691 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:30.691Z,1749142350.691 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:30.869Z,1749142350.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:30.873Z,1749142350.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 104.024086 m,
      bearing: 337.642485 deg,
      approach rate: -0.713680 m/s,
      LOS rate: -0.021496 deg/s,
      cmd heading: 328.485135 deg,
      new cmd heading: 328.452553 deg.

2025-06-05T16:52:30.874Z,1749142350.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732578 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:30.944Z,1749142350.944 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:30.944Z,1749142350.944 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:30.945Z,1749142350.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:31.196Z,1749142351.196 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:31.196Z,1749142351.196 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:31.196Z,1749142351.196 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:31.221Z,1749142351.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:31.235Z,1749142351.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 103.782639 m,
      bearing: 337.635214 deg,
      approach rate: -0.686728 m/s,
      LOS rate: -0.020728 deg/s,
      cmd heading: 328.452541 deg,
      new cmd heading: 328.430678 deg.

2025-06-05T16:52:31.238Z,1749142351.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732197 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:31.448Z,1749142351.448 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:31.448Z,1749142351.448 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:31.449Z,1749142351.449 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:31.629Z,1749142351.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:31.633Z,1749142351.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 103.476593 m,
      bearing: 337.626661 deg,
      approach rate: -0.750294 m/s,
      LOS rate: -0.021030 deg/s,
      cmd heading: 328.430684 deg,
      new cmd heading: 328.404950 deg.

2025-06-05T16:52:31.634Z,1749142351.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731748 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:31.700Z,1749142351.700 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:31.700Z,1749142351.700 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:31.700Z,1749142351.700 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:31.951Z,1749142351.951 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:31.951Z,1749142351.951 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:31.951Z,1749142351.951 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:32.040Z,1749142352.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:32.051Z,1749142352.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 103.193542 m,
      bearing: 337.618675 deg,
      approach rate: -0.691523 m/s,
      LOS rate: -0.019565 deg/s,
      cmd heading: 328.404948 deg,
      new cmd heading: 328.380924 deg.

2025-06-05T16:52:32.052Z,1749142352.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731328 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:32.203Z,1749142352.203 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:32.203Z,1749142352.203 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:32.203Z,1749142352.203 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:32.388Z,1749142352.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:32.394Z,1749142352.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:32.399Z,1749142352.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 102.925758 m,
      bearing: 337.611010 deg,
      approach rate: -0.753487 m/s,
      LOS rate: -0.021625 deg/s,
      cmd heading: 328.380933 deg,
      new cmd heading: 328.357878 deg.

2025-06-05T16:52:32.400Z,1749142352.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730926 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:32.456Z,1749142352.456 [DAT](INFO): Reached modem response timeout
2025-06-05T16:52:32.457Z,1749142352.457 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:52:32.458Z,1749142352.458 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:32.707Z,1749142352.707 [DAT](INFO): Reached modem response timeout
2025-06-05T16:52:32.707Z,1749142352.707 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:52:32.707Z,1749142352.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:32.832Z,1749142352.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:32.835Z,1749142352.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 102.606384 m,
      bearing: 337.604246 deg,
      approach rate: -0.728454 m/s,
      LOS rate: -0.015474 deg/s,
      cmd heading: 328.357875 deg,
      new cmd heading: 328.337522 deg.

2025-06-05T16:52:32.836Z,1749142352.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730571 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:32.961Z,1749142352.961 [DAT](INFO): Reached modem response timeout
2025-06-05T16:52:32.961Z,1749142352.961 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:52:32.961Z,1749142352.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:33.209Z,1749142353.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:33.212Z,1749142353.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 102.336357 m,
      bearing: 337.598287 deg,
      approach rate: -0.716245 m/s,
      LOS rate: -0.015848 deg/s,
      cmd heading: 328.337521 deg,
      new cmd heading: 328.319596 deg.

2025-06-05T16:52:33.213Z,1749142353.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730258 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:33.215Z,1749142353.215 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:52:33.216Z,1749142353.216 [DAT](INFO): response not received
2025-06-05T16:52:33.216Z,1749142353.216 [DAT](INFO): DAT read: user:2449>

2025-06-05T16:52:33.217Z,1749142353.217 [DAT](INFO): DAT read: Tx time:16:52:32.4057

2025-06-05T16:52:33.217Z,1749142353.217 [DAT](INFO): Ping request sent.
2025-06-05T16:52:33.217Z,1749142353.217 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:52:33.217Z,1749142353.217 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:33.218Z,1749142353.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-06-05T16:52:33.470Z,1749142353.470 [DAT](INFO): DAT read: TxSync time:16:52:32.4049

2025-06-05T16:52:33.473Z,1749142353.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255555
2025-06-05T16:52:33.649Z,1749142353.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:33.656Z,1749142353.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 102.045464 m,
      bearing: 337.595094 deg,
      approach rate: -0.660943 m/s,
      LOS rate: -0.007275 deg/s,
      cmd heading: 328.319598 deg,
      new cmd heading: 328.309993 deg.

2025-06-05T16:52:33.657Z,1749142353.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730090 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:33.719Z,1749142353.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502425
2025-06-05T16:52:33.971Z,1749142353.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754307
2025-06-05T16:52:34.056Z,1749142354.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:34.064Z,1749142354.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 101.757111 m,
      bearing: 337.592319 deg,
      approach rate: -0.708993 m/s,
      LOS rate: -0.006844 deg/s,
      cmd heading: 328.309981 deg,
      new cmd heading: 328.301631 deg.

2025-06-05T16:52:34.065Z,1749142354.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729944 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:34.228Z,1749142354.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010466
2025-06-05T16:52:34.479Z,1749142354.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260788
2025-06-05T16:52:34.503Z,1749142354.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:34.517Z,1749142354.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:34.531Z,1749142354.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 101.471344 m,
      bearing: 337.589553 deg,
      approach rate: -0.619855 m/s,
      LOS rate: -0.006017 deg/s,
      cmd heading: 328.301621 deg,
      new cmd heading: 328.293299 deg.

2025-06-05T16:52:34.533Z,1749142354.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729799 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:34.727Z,1749142354.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510004
2025-06-05T16:52:34.890Z,1749142354.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:34.893Z,1749142354.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 101.162148 m,
      bearing: 337.588182 deg,
      approach rate: -0.829156 m/s,
      LOS rate: -0.003687 deg/s,
      cmd heading: 328.293288 deg,
      new cmd heading: 328.289163 deg.

2025-06-05T16:52:34.894Z,1749142354.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729727 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:34.980Z,1749142354.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762476
2025-06-05T16:52:35.231Z,1749142355.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013941
2025-06-05T16:52:35.281Z,1749142355.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:35.283Z,1749142355.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 100.894608 m,
      bearing: 337.586655 deg,
      approach rate: -0.684589 m/s,
      LOS rate: -0.003916 deg/s,
      cmd heading: 328.289163 deg,
      new cmd heading: 328.284571 deg.

2025-06-05T16:52:35.284Z,1749142355.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729647 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:35.492Z,1749142355.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273746
2025-06-05T16:52:35.709Z,1749142355.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:35.720Z,1749142355.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 100.632851 m,
      bearing: 337.584624 deg,
      approach rate: -0.610533 m/s,
      LOS rate: -0.004751 deg/s,
      cmd heading: 328.284573 deg,
      new cmd heading: 328.278462 deg.

2025-06-05T16:52:35.721Z,1749142355.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729540 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:35.739Z,1749142355.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522209
2025-06-05T16:52:35.991Z,1749142355.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774141
2025-06-05T16:52:36.077Z,1749142356.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:36.080Z,1749142356.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 100.383781 m,
      bearing: 337.582492 deg,
      approach rate: -0.678047 m/s,
      LOS rate: -0.005816 deg/s,
      cmd heading: 328.278453 deg,
      new cmd heading: 328.272043 deg.

2025-06-05T16:52:36.082Z,1749142356.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729428 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:36.243Z,1749142356.243 [DAT](INFO): DAT read: Rx Time:16:52:34.9495

2025-06-05T16:52:36.244Z,1749142356.244 [DAT](INFO): Rx dataTimestamp_ set to:1749142356.243520
2025-06-05T16:52:36.244Z,1749142356.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027311
2025-06-05T16:52:36.506Z,1749142356.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288559
2025-06-05T16:52:36.556Z,1749142356.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:36.562Z,1749142356.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:36.571Z,1749142356.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 100.094368 m,
      bearing: 337.579849 deg,
      approach rate: -0.601086 m/s,
      LOS rate: -0.005507 deg/s,
      cmd heading: 328.272033 deg,
      new cmd heading: 328.264078 deg.

2025-06-05T16:52:36.572Z,1749142356.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729289 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:36.771Z,1749142356.771 [DAT](INFO): DAT read: 16:52:34.9496 LVL= 25376, 32753, 23538, 30611, AGC= 67, IDX= 338,-0.12,-2.907, 2.056,-3.137, 2.810, PHS= 0.654,-0.707, 0.333, RAW= 137.0,  -4.6, CAL= 142.5, -14.5, ROT=   7.5,  14.5

2025-06-05T16:52:36.773Z,1749142356.773 [DAT](INFO): got valid direction response:
 16:52:34.9496 LVL= 25376, 32753, 23538, 30611, AGC= 67, IDX= 338,-0.12,-2.907, 2.056,-3.137, 2.810, PHS= 0.654,-0.707, 0.333, RAW= 137.0,  -4.6, CAL= 142.5, -14.5, ROT=   7.5,  14.5

2025-06-05T16:52:36.774Z,1749142356.774 [DAT](INFO): DAT read: $Error in header

2025-06-05T16:52:36.775Z,1749142356.775 [DAT](INFO): Received a bad header
2025-06-05T16:52:36.795Z,1749142356.795 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T16:52:36.796Z,1749142356.796 [DAT](INFO): direction in FSK: [0.959865,0.126369,-0.250380]
2025-06-05T16:52:36.801Z,1749142356.801 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:36.801Z,1749142356.801 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:36.801Z,1749142356.801 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:36.958Z,1749142356.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:36.969Z,1749142356.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 99.834274 m,
      bearing: 337.577420 deg,
      approach rate: -0.651203 m/s,
      LOS rate: -0.006096 deg/s,
      cmd heading: 328.264082 deg,
      new cmd heading: 328.256778 deg.

2025-06-05T16:52:36.970Z,1749142356.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729162 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:37.007Z,1749142357.007 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:37.007Z,1749142357.007 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:37.007Z,1749142357.007 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:37.259Z,1749142357.259 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:37.259Z,1749142357.259 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:37.259Z,1749142357.259 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:37.377Z,1749142357.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:37.401Z,1749142357.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 99.591232 m,
      bearing: 337.575139 deg,
      approach rate: -0.579121 m/s,
      LOS rate: -0.005448 deg/s,
      cmd heading: 328.256788 deg,
      new cmd heading: 328.249929 deg.

2025-06-05T16:52:37.407Z,1749142357.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729042 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:37.513Z,1749142357.513 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:37.514Z,1749142357.514 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:37.515Z,1749142357.515 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:37.764Z,1749142357.764 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:37.764Z,1749142357.764 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:37.764Z,1749142357.764 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:37.865Z,1749142357.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:37.885Z,1749142357.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 99.281723 m,
      bearing: 337.572419 deg,
      approach rate: -0.634318 m/s,
      LOS rate: -0.005592 deg/s,
      cmd heading: 328.249930 deg,
      new cmd heading: 328.241745 deg.

2025-06-05T16:52:37.911Z,1749142357.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728899 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:38.015Z,1749142358.015 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:38.015Z,1749142358.015 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:38.015Z,1749142358.015 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:38.215Z,1749142358.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:38.217Z,1749142358.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 99.074074 m,
      bearing: 337.570491 deg,
      approach rate: -0.593923 m/s,
      LOS rate: -0.005528 deg/s,
      cmd heading: 328.241734 deg,
      new cmd heading: 328.235936 deg.

2025-06-05T16:52:38.236Z,1749142358.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728798 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:38.267Z,1749142358.267 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:38.267Z,1749142358.267 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:38.267Z,1749142358.267 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:38.522Z,1749142358.522 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:38.523Z,1749142358.523 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:38.523Z,1749142358.523 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:38.672Z,1749142358.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:38.679Z,1749142358.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:38.691Z,1749142358.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 98.823296 m,
      bearing: 337.568593 deg,
      approach rate: -0.540628 m/s,
      LOS rate: -0.004102 deg/s,
      cmd heading: 328.235942 deg,
      new cmd heading: 328.230234 deg.

2025-06-05T16:52:38.692Z,1749142358.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728698 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:38.772Z,1749142358.772 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:38.772Z,1749142358.772 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:38.772Z,1749142358.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:39.023Z,1749142359.023 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:39.023Z,1749142359.023 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:39.023Z,1749142359.023 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:39.049Z,1749142359.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:39.057Z,1749142359.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 98.601959 m,
      bearing: 337.566860 deg,
      approach rate: -0.597238 m/s,
      LOS rate: -0.004686 deg/s,
      cmd heading: 328.230232 deg,
      new cmd heading: 328.225022 deg.

2025-06-05T16:52:39.062Z,1749142359.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728607 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:39.275Z,1749142359.275 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:39.276Z,1749142359.276 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:39.276Z,1749142359.276 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:39.432Z,1749142359.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:39.435Z,1749142359.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 98.381676 m,
      bearing: 337.565158 deg,
      approach rate: -0.574850 m/s,
      LOS rate: -0.004451 deg/s,
      cmd heading: 328.225014 deg,
      new cmd heading: 328.219897 deg.

2025-06-05T16:52:39.436Z,1749142359.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728518 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:39.532Z,1749142359.532 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:39.533Z,1749142359.533 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:39.533Z,1749142359.533 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:39.779Z,1749142359.779 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:39.779Z,1749142359.779 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:39.779Z,1749142359.779 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:39.861Z,1749142359.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:39.866Z,1749142359.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 98.129494 m,
      bearing: 337.565841 deg,
      approach rate: -0.588144 m/s,
      LOS rate: 0.001597 deg/s,
      cmd heading: 328.219905 deg,
      new cmd heading: 328.221959 deg.

2025-06-05T16:52:39.867Z,1749142359.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728554 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:40.032Z,1749142360.032 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:40.032Z,1749142360.032 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:40.032Z,1749142360.032 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:40.250Z,1749142360.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:40.253Z,1749142360.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 97.901039 m,
      bearing: 337.566530 deg,
      approach rate: -0.587655 m/s,
      LOS rate: 0.001776 deg/s,
      cmd heading: 328.221954 deg,
      new cmd heading: 328.224025 deg.

2025-06-05T16:52:40.254Z,1749142360.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728590 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:40.284Z,1749142360.284 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:40.284Z,1749142360.284 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:40.284Z,1749142360.284 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:40.537Z,1749142360.537 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:40.537Z,1749142360.537 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:40.538Z,1749142360.538 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:40.699Z,1749142360.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:40.701Z,1749142360.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:40.708Z,1749142360.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 97.637817 m,
      bearing: 337.565645 deg,
      approach rate: -0.583831 m/s,
      LOS rate: -0.001968 deg/s,
      cmd heading: 328.224030 deg,
      new cmd heading: 328.221368 deg.

2025-06-05T16:52:40.709Z,1749142360.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728544 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:40.789Z,1749142360.789 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:40.789Z,1749142360.789 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:40.789Z,1749142360.789 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:41.039Z,1749142361.039 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:41.039Z,1749142361.039 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:41.039Z,1749142361.039 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:41.056Z,1749142361.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:41.059Z,1749142361.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 97.409248 m,
      bearing: 337.565161 deg,
      approach rate: -0.642817 m/s,
      LOS rate: -0.001365 deg/s,
      cmd heading: 328.221380 deg,
      new cmd heading: 328.219925 deg.

2025-06-05T16:52:41.060Z,1749142361.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728518 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:41.292Z,1749142361.292 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:41.292Z,1749142361.292 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:41.292Z,1749142361.292 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:41.465Z,1749142361.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:41.468Z,1749142361.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 97.158661 m,
      bearing: 337.564757 deg,
      approach rate: -0.612926 m/s,
      LOS rate: -0.000991 deg/s,
      cmd heading: 328.219932 deg,
      new cmd heading: 328.218716 deg.

2025-06-05T16:52:41.469Z,1749142361.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728497 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:41.545Z,1749142361.545 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:41.545Z,1749142361.545 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:41.546Z,1749142361.546 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:41.795Z,1749142361.795 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:41.795Z,1749142361.795 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:41.795Z,1749142361.795 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:41.894Z,1749142361.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:41.899Z,1749142361.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 96.877213 m,
      bearing: 337.563964 deg,
      approach rate: -0.656951 m/s,
      LOS rate: -0.001856 deg/s,
      cmd heading: 328.218703 deg,
      new cmd heading: 328.216317 deg.

2025-06-05T16:52:41.903Z,1749142361.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728456 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:42.049Z,1749142362.049 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:42.049Z,1749142362.049 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:42.049Z,1749142362.049 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:42.270Z,1749142362.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:42.289Z,1749142362.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 96.630875 m,
      bearing: 337.563506 deg,
      approach rate: -0.654912 m/s,
      LOS rate: -0.001220 deg/s,
      cmd heading: 328.216326 deg,
      new cmd heading: 328.214949 deg.

2025-06-05T16:52:42.290Z,1749142362.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728432 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:42.300Z,1749142362.300 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:42.301Z,1749142362.301 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:42.301Z,1749142362.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:42.553Z,1749142362.553 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:42.553Z,1749142362.553 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:42.553Z,1749142362.553 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:42.700Z,1749142362.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:42.719Z,1749142362.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 96.333603 m,
      bearing: 337.562374 deg,
      approach rate: -0.690625 m/s,
      LOS rate: -0.002637 deg/s,
      cmd heading: 328.214960 deg,
      new cmd heading: 328.211555 deg.

2025-06-05T16:52:42.720Z,1749142362.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728372 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:42.804Z,1749142362.804 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:42.804Z,1749142362.804 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:42.804Z,1749142362.804 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:43.056Z,1749142363.056 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:43.056Z,1749142363.056 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:43.057Z,1749142363.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:52:43.084Z,1749142363.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:43.086Z,1749142363.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:43.089Z,1749142363.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 96.065689 m,
      bearing: 337.561702 deg,
      approach rate: -0.694171 m/s,
      LOS rate: -0.001748 deg/s,
      cmd heading: 328.211545 deg,
      new cmd heading: 328.209521 deg.

2025-06-05T16:52:43.091Z,1749142363.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728337 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:43.307Z,1749142363.307 [DAT](INFO): Reached modem response timeout
2025-06-05T16:52:43.308Z,1749142363.308 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:52:43.308Z,1749142363.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:43.488Z,1749142363.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:43.491Z,1749142363.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 95.786690 m,
      bearing: 337.561274 deg,
      approach rate: -0.694381 m/s,
      LOS rate: -0.001067 deg/s,
      cmd heading: 328.209523 deg,
      new cmd heading: 328.208237 deg.

2025-06-05T16:52:43.492Z,1749142363.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728314 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:43.561Z,1749142363.561 [DAT](INFO): Reached modem response timeout
2025-06-05T16:52:43.562Z,1749142363.562 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:52:43.563Z,1749142363.563 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:43.811Z,1749142363.811 [DAT](INFO): Reached modem response timeout
2025-06-05T16:52:43.811Z,1749142363.811 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:52:43.812Z,1749142363.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:43.925Z,1749142363.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:43.928Z,1749142363.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 95.469315 m,
      bearing: 337.557687 deg,
      approach rate: -0.725855 m/s,
      LOS rate: -0.008232 deg/s,
      cmd heading: 328.208239 deg,
      new cmd heading: 328.197441 deg.

2025-06-05T16:52:43.929Z,1749142363.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728126 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:44.064Z,1749142364.064 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:52:44.065Z,1749142364.065 [DAT](INFO): response not received
2025-06-05T16:52:44.066Z,1749142364.066 [DAT](INFO): DAT read: user:2451>

2025-06-05T16:52:44.069Z,1749142364.069 [DAT](ERROR): No response from remote modem.
2025-06-05T16:52:44.070Z,1749142364.070 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:52:44.071Z,1749142364.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:44.315Z,1749142364.315 [DAT](INFO): DAT read: Tx time:16:52:43.3558

2025-06-05T16:52:44.316Z,1749142364.316 [DAT](INFO): Ping request sent.
2025-06-05T16:52:44.316Z,1749142364.316 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:52:44.316Z,1749142364.316 [DAT](INFO): DAT read: TxSync time:16:52:43.3550

2025-06-05T16:52:44.317Z,1749142364.317 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:44.317Z,1749142364.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001596
2025-06-05T16:52:44.422Z,1749142364.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:44.425Z,1749142364.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 95.120743 m,
      bearing: 337.553969 deg,
      approach rate: -0.707583 m/s,
      LOS rate: -0.007574 deg/s,
      cmd heading: 328.197447 deg,
      new cmd heading: 328.186254 deg.

2025-06-05T16:52:44.426Z,1749142364.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727931 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:44.567Z,1749142364.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251548
2025-06-05T16:52:44.795Z,1749142364.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:44.803Z,1749142364.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 94.845474 m,
      bearing: 337.547395 deg,
      approach rate: -0.739695 m/s,
      LOS rate: -0.017716 deg/s,
      cmd heading: 328.186246 deg,
      new cmd heading: 328.166467 deg.

2025-06-05T16:52:44.804Z,1749142364.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727585 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:44.820Z,1749142364.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503807
2025-06-05T16:52:45.071Z,1749142365.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755419
2025-06-05T16:52:45.164Z,1749142365.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:45.171Z,1749142365.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:45.178Z,1749142365.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 94.569061 m,
      bearing: 337.541345 deg,
      approach rate: -0.724672 m/s,
      LOS rate: -0.015908 deg/s,
      cmd heading: 328.166465 deg,
      new cmd heading: 328.148261 deg.

2025-06-05T16:52:45.180Z,1749142365.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727268 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:45.323Z,1749142365.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007555
2025-06-05T16:52:45.575Z,1749142365.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259623
2025-06-05T16:52:45.577Z,1749142365.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:45.605Z,1749142365.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 94.264877 m,
      bearing: 337.535054 deg,
      approach rate: -0.750416 m/s,
      LOS rate: -0.015570 deg/s,
      cmd heading: 328.148270 deg,
      new cmd heading: 328.129336 deg.

2025-06-05T16:52:45.613Z,1749142365.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726937 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:45.827Z,1749142365.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511509
2025-06-05T16:52:45.985Z,1749142365.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:45.988Z,1749142365.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 93.957901 m,
      bearing: 337.526736 deg,
      approach rate: -0.751768 m/s,
      LOS rate: -0.020437 deg/s,
      cmd heading: 328.129336 deg,
      new cmd heading: 328.104301 deg.

2025-06-05T16:52:45.989Z,1749142365.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726501 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:46.081Z,1749142366.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765136
2025-06-05T16:52:46.331Z,1749142366.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015386
2025-06-05T16:52:46.383Z,1749142366.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:46.392Z,1749142366.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 93.685669 m,
      bearing: 337.519206 deg,
      approach rate: -0.692429 m/s,
      LOS rate: -0.019210 deg/s,
      cmd heading: 328.104311 deg,
      new cmd heading: 328.081653 deg.

2025-06-05T16:52:46.393Z,1749142366.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726105 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:46.583Z,1749142366.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267524
2025-06-05T16:52:46.816Z,1749142366.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:46.819Z,1749142366.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 93.350708 m,
      bearing: 337.510548 deg,
      approach rate: -0.764920 m/s,
      LOS rate: -0.019841 deg/s,
      cmd heading: 328.081662 deg,
      new cmd heading: 328.055597 deg.

2025-06-05T16:52:46.820Z,1749142366.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725650 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:46.835Z,1749142366.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519539
2025-06-05T16:52:47.087Z,1749142367.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771456
2025-06-05T16:52:47.168Z,1749142367.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:47.182Z,1749142367.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:47.185Z,1749142367.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 93.094536 m,
      bearing: 337.504001 deg,
      approach rate: -0.723844 m/s,
      LOS rate: -0.018553 deg/s,
      cmd heading: 328.055598 deg,
      new cmd heading: 328.035900 deg.

2025-06-05T16:52:47.191Z,1749142367.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725307 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:47.339Z,1749142367.339 [DAT](INFO): DAT read: Rx Time:16:52:45.8899

2025-06-05T16:52:47.340Z,1749142367.340 [DAT](INFO): Rx dataTimestamp_ set to:1749142367.339272
2025-06-05T16:52:47.340Z,1749142367.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024471
2025-06-05T16:52:47.603Z,1749142367.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286334
2025-06-05T16:52:47.616Z,1749142367.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.46 m.
2025-06-05T16:52:47.639Z,1749142367.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.456375 m,
      nav range: 92.788811 m,
      bearing: 337.496175 deg,
      approach rate: -0.685941 m/s,
      LOS rate: -0.017616 deg/s,
      cmd heading: 328.035899 deg,
      new cmd heading: 328.012345 deg.

2025-06-05T16:52:47.647Z,1749142367.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724895 target range: 113.456375 and range: 114.40 m.
2025-06-05T16:52:47.857Z,1749142367.857 [DAT](INFO): DAT read: 16:52:45.8899 LVL= 23664, 24417, 19522, 32499, AGC= 66, IDX= 334, 0.10,-0.555,-1.889,-0.792,-1.148, PHS= 0.681,-0.693, 0.353, RAW= 136.8,  -5.5, CAL= 142.5, -15.7, ROT=   7.5,  15.7

2025-06-05T16:52:47.858Z,1749142367.858 [DAT](INFO): got valid direction response:
 16:52:45.8899 LVL= 23664, 24417, 19522, 32499, AGC= 66, IDX= 334, 0.10,-0.555,-1.889,-0.792,-1.148, PHS= 0.681,-0.693, 0.353, RAW= 136.8,  -5.5, CAL= 142.5, -15.7, ROT=   7.5,  15.7

2025-06-05T16:52:47.859Z,1749142367.859 [DAT](INFO): DAT read: Bearing   7.5,  15.7 (Local)

2025-06-05T16:52:47.859Z,1749142367.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.5,  15.7 (Local)

2025-06-05T16:52:47.861Z,1749142367.861 [DAT](INFO): DAT read: Range 10 to 50 : 97.3 m  (Round-trip  129.8 ms) speed  0.8 m/s

2025-06-05T16:52:47.861Z,1749142367.861 [DAT](INFO): DAT read: user:2452>

2025-06-05T16:52:47.865Z,1749142367.865 [DAT](INFO): DAT read: Tx time:16:52:47.0059

2025-06-05T16:52:47.865Z,1749142367.865 [DAT](INFO): Ping request sent.
2025-06-05T16:52:47.865Z,1749142367.865 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:52:47.866Z,1749142367.866 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:52:47.867Z,1749142367.867 [DAT](INFO): direction in FSK: [0.954456,0.125656,-0.270600]
2025-06-05T16:52:47.867Z,1749142367.867 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:47.868Z,1749142367.868 [DAT](INFO): publishing direction and range info
2025-06-05T16:52:47.871Z,1749142367.871 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:47.871Z,1749142367.871 [DAT](INFO): publishing direction and range info
2025-06-05T16:52:48.103Z,1749142368.103 [DAT](INFO): DAT read: TxSync time:16:52:47.0051

2025-06-05T16:52:48.124Z,1749142368.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.300003 m,
      deltaT: 25.479343 s,
      deltaX: -17.099998 m,
      approachRate: -0.671132 m/s,
      rangeRepo size: 4

2025-06-05T16:52:48.131Z,1749142368.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.499725 m,
      bearing: 336.625157 deg,
      lat: 36.906271 deg,
      lon: -122.115838 deg,
      deltaT: 25.479343 s,
      deltaX: -16.956650 m,
      approachRate: -0.665506 m/s,
      posRepo size: 4

2025-06-05T16:52:48.133Z,1749142368.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:48.139Z,1749142368.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 92.488602 m,
      bearing: 337.497146 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017616 deg/s,
      cmd heading: 328.012349 deg,
      new cmd heading: 327.985528 deg.

2025-06-05T16:52:48.140Z,1749142368.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724427 target range: 96.499725 and range: 97.30 m.
2025-06-05T16:52:48.468Z,1749142368.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:48.483Z,1749142368.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 92.238441 m,
      bearing: 337.488327 deg,
      approach rate: -0.724833 m/s,
      LOS rate: -0.025623 deg/s,
      cmd heading: 327.985520 deg,
      new cmd heading: 327.958990 deg.

2025-06-05T16:52:48.484Z,1749142368.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723964 target range: 96.499725 and range: 97.30 m.
2025-06-05T16:52:48.857Z,1749142368.857 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  +136,  +65,A
2025-06-05T16:52:48.896Z,1749142368.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:48.904Z,1749142368.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 91.942001 m,
      bearing: 337.477651 deg,
      approach rate: -0.693343 m/s,
      LOS rate: -0.025050 deg/s,
      cmd heading: 327.958992 deg,
      new cmd heading: 327.926860 deg.

2025-06-05T16:52:48.905Z,1749142368.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723403 target range: 96.499725 and range: 97.30 m.
2025-06-05T16:52:49.258Z,1749142369.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:49.260Z,1749142369.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:49.264Z,1749142369.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 91.674301 m,
      bearing: 337.467745 deg,
      approach rate: -0.735478 m/s,
      LOS rate: -0.027294 deg/s,
      cmd heading: 327.926862 deg,
      new cmd heading: 327.897059 deg.

2025-06-05T16:52:49.265Z,1749142369.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722883 target range: 96.499725 and range: 97.30 m.
2025-06-05T16:52:49.365Z,1749142369.365 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:49.365Z,1749142369.365 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:49.365Z,1749142369.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:49.627Z,1749142369.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756494
2025-06-05T16:52:49.733Z,1749142369.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:49.736Z,1749142369.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 91.355118 m,
      bearing: 337.455421 deg,
      approach rate: -0.674675 m/s,
      LOS rate: -0.026141 deg/s,
      cmd heading: 327.897055 deg,
      new cmd heading: 327.859955 deg.

2025-06-05T16:52:49.737Z,1749142369.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722236 target range: 96.499725 and range: 97.30 m.
2025-06-05T16:52:49.872Z,1749142369.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006452
2025-06-05T16:52:50.111Z,1749142370.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:50.119Z,1749142370.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 91.119255 m,
      bearing: 337.453837 deg,
      approach rate: -0.624193 m/s,
      LOS rate: -0.004203 deg/s,
      cmd heading: 327.859954 deg,
      new cmd heading: 327.855189 deg.

2025-06-05T16:52:50.120Z,1749142370.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722153 target range: 96.499725 and range: 97.30 m.
2025-06-05T16:52:50.123Z,1749142370.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257777
2025-06-05T16:52:50.375Z,1749142370.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509497
2025-06-05T16:52:50.473Z,1749142370.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:50.492Z,1749142370.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 90.872047 m,
      bearing: 337.452111 deg,
      approach rate: -0.682400 m/s,
      LOS rate: -0.004779 deg/s,
      cmd heading: 327.855200 deg,
      new cmd heading: 327.850006 deg.

2025-06-05T16:52:50.493Z,1749142370.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722062 target range: 96.499725 and range: 97.30 m.
2025-06-05T16:52:50.627Z,1749142370.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761570
2025-06-05T16:52:50.879Z,1749142370.879 [DAT](INFO): DAT read: Rx Time:16:52:49.5369

2025-06-05T16:52:50.881Z,1749142370.881 [DAT](INFO): Rx dataTimestamp_ set to:1749142370.879895
2025-06-05T16:52:50.881Z,1749142370.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015988
2025-06-05T16:52:50.895Z,1749142370.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:50.927Z,1749142370.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 90.612106 m,
      bearing: 337.453969 deg,
      approach rate: -0.615649 m/s,
      LOS rate: 0.004415 deg/s,
      cmd heading: 327.850009 deg,
      new cmd heading: 327.855601 deg.

2025-06-05T16:52:50.929Z,1749142370.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722160 target range: 96.499725 and range: 97.30 m.
2025-06-05T16:52:51.132Z,1749142371.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266244
2025-06-05T16:52:51.274Z,1749142371.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:51.276Z,1749142371.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:51.279Z,1749142371.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 90.377914 m,
      bearing: 337.455737 deg,
      approach rate: -0.615064 m/s,
      LOS rate: 0.004653 deg/s,
      cmd heading: 327.855610 deg,
      new cmd heading: 327.860925 deg.

2025-06-05T16:52:51.282Z,1749142371.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722253 target range: 96.499725 and range: 97.30 m.
2025-06-05T16:52:51.386Z,1749142371.386 [DAT](INFO): DAT read: Range 10 to 50 : 95.1 m  (Round-trip  126.8 ms) speed  0.8 m/s

2025-06-05T16:52:51.387Z,1749142371.387 [DAT](INFO): DAT read: user:2453>

2025-06-05T16:52:51.388Z,1749142371.388 [DAT](INFO): DAT read: Tx time:16:52:50.6559

2025-06-05T16:52:51.389Z,1749142371.389 [DAT](INFO): Ping request sent.
2025-06-05T16:52:51.389Z,1749142371.389 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:52:51.390Z,1749142371.390 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:52:51.390Z,1749142371.390 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:51.391Z,1749142371.391 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:51.635Z,1749142371.635 [DAT](INFO): DAT read: TxSync time:16:52:50.6551

2025-06-05T16:52:51.750Z,1749142371.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 95.099998 m,
      deltaT: 3.532720 s,
      deltaX: -2.200005 m,
      approachRate: -0.622751 m/s,
      rangeRepo size: 4

2025-06-05T16:52:51.754Z,1749142371.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:51.757Z,1749142371.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 90.124184 m,
      bearing: 337.457729 deg,
      approach rate: -0.537276 m/s,
      LOS rate: 0.004230 deg/s,
      cmd heading: 327.860937 deg,
      new cmd heading: 327.866930 deg.

2025-06-05T16:52:51.762Z,1749142371.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722357 target range: 96.499725 and range: 95.10 m.
2025-06-05T16:52:52.125Z,1749142372.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:52.150Z,1749142372.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 89.859413 m,
      bearing: 337.462647 deg,
      approach rate: -0.702712 m/s,
      LOS rate: 0.013093 deg/s,
      cmd heading: 327.866921 deg,
      new cmd heading: 327.881721 deg.

2025-06-05T16:52:52.155Z,1749142372.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722616 target range: 96.499725 and range: 95.10 m.
2025-06-05T16:52:52.501Z,1749142372.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:52.522Z,1749142372.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 89.632309 m,
      bearing: 337.466966 deg,
      approach rate: -0.605059 m/s,
      LOS rate: 0.011536 deg/s,
      cmd heading: 327.881728 deg,
      new cmd heading: 327.894718 deg.

2025-06-05T16:52:52.528Z,1749142372.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722842 target range: 96.499725 and range: 95.10 m.
2025-06-05T16:52:52.964Z,1749142372.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:52.967Z,1749142372.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 89.347626 m,
      bearing: 337.475627 deg,
      approach rate: -0.615283 m/s,
      LOS rate: 0.018778 deg/s,
      cmd heading: 327.894706 deg,
      new cmd heading: 327.920771 deg.

2025-06-05T16:52:52.968Z,1749142372.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723297 target range: 96.499725 and range: 95.10 m.
2025-06-05T16:52:53.300Z,1749142373.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:53.302Z,1749142373.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:53.305Z,1749142373.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 89.140213 m,
      bearing: 337.481866 deg,
      approach rate: -0.611985 m/s,
      LOS rate: 0.018452 deg/s,
      cmd heading: 327.920770 deg,
      new cmd heading: 327.939531 deg.

2025-06-05T16:52:53.306Z,1749142373.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723625 target range: 96.499725 and range: 95.10 m.
2025-06-05T16:52:53.399Z,1749142373.399 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:53.399Z,1749142373.399 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:53.399Z,1749142373.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:53.651Z,1749142373.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262309
2025-06-05T16:52:53.788Z,1749142373.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:53.795Z,1749142373.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 88.866127 m,
      bearing: 337.490112 deg,
      approach rate: -0.564307 m/s,
      LOS rate: 0.017029 deg/s,
      cmd heading: 327.939539 deg,
      new cmd heading: 327.964352 deg.

2025-06-05T16:52:53.796Z,1749142373.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724058 target range: 96.499725 and range: 95.10 m.
2025-06-05T16:52:53.905Z,1749142373.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516018
2025-06-05T16:52:54.155Z,1749142374.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766322
2025-06-05T16:52:54.156Z,1749142374.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:54.159Z,1749142374.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 88.615524 m,
      bearing: 337.499816 deg,
      approach rate: -0.680100 m/s,
      LOS rate: 0.026409 deg/s,
      cmd heading: 327.964346 deg,
      new cmd heading: 327.993540 deg.

2025-06-05T16:52:54.160Z,1749142374.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724567 target range: 96.499725 and range: 95.10 m.
2025-06-05T16:52:54.408Z,1749142374.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018629
2025-06-05T16:52:54.558Z,1749142374.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:54.561Z,1749142374.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 88.380287 m,
      bearing: 337.509006 deg,
      approach rate: -0.610490 m/s,
      LOS rate: 0.023914 deg/s,
      cmd heading: 327.993552 deg,
      new cmd heading: 328.021196 deg.

2025-06-05T16:52:54.562Z,1749142374.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725050 target range: 96.499725 and range: 95.10 m.
2025-06-05T16:52:54.659Z,1749142374.659 [DAT](INFO): DAT read: Rx Time:16:52:53.1835

2025-06-05T16:52:54.660Z,1749142374.660 [DAT](INFO): Rx dataTimestamp_ set to:1749142374.659516
2025-06-05T16:52:54.660Z,1749142374.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271540
2025-06-05T16:52:54.915Z,1749142374.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525816
2025-06-05T16:52:55.005Z,1749142375.005 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  85.21,  77.41,  81.14
2025-06-05T16:52:55.043Z,1749142375.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:55.046Z,1749142375.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 88.080139 m,
      bearing: 337.520761 deg,
      approach rate: -0.598793 m/s,
      LOS rate: 0.023532 deg/s,
      cmd heading: 328.021201 deg,
      new cmd heading: 328.056588 deg.

2025-06-05T16:52:55.051Z,1749142375.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725667 target range: 96.499725 and range: 95.10 m.
2025-06-05T16:52:55.165Z,1749142375.165 [DAT](INFO): DAT read: Range 10 to 50 : 92.6 m  (Round-trip  123.5 ms) speed  0.5 m/s

2025-06-05T16:52:55.166Z,1749142375.166 [DAT](INFO): DAT read: user:2454>

2025-06-05T16:52:55.167Z,1749142375.167 [DAT](INFO): DAT read: Tx time:16:52:54.2559

2025-06-05T16:52:55.168Z,1749142375.168 [DAT](INFO): Ping request sent.
2025-06-05T16:52:55.169Z,1749142375.169 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:52:55.170Z,1749142375.170 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:52:55.172Z,1749142375.172 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:55.173Z,1749142375.173 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:55.416Z,1749142375.416 [DAT](INFO): DAT read: TxSync time:16:52:54.2551

2025-06-05T16:52:55.417Z,1749142375.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:55.420Z,1749142375.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.599998 m,
      deltaT: 3.779613 s,
      deltaX: -2.500000 m,
      approachRate: -0.661443 m/s,
      rangeRepo size: 4

2025-06-05T16:52:55.421Z,1749142375.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:55.424Z,1749142375.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 87.837067 m,
      bearing: 337.530336 deg,
      approach rate: -0.645446 m/s,
      LOS rate: 0.025494 deg/s,
      cmd heading: 328.056581 deg,
      new cmd heading: 328.085385 deg.

2025-06-05T16:52:55.425Z,1749142375.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726170 target range: 96.499725 and range: 92.60 m.
2025-06-05T16:52:55.667Z,1749142375.667 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:55.667Z,1749142375.667 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:55.667Z,1749142375.667 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:52:55.917Z,1749142375.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:55.919Z,1749142375.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751147
2025-06-05T16:52:55.922Z,1749142375.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 87.518333 m,
      bearing: 337.530991 deg,
      approach rate: -0.640477 m/s,
      LOS rate: 0.001322 deg/s,
      cmd heading: 328.085377 deg,
      new cmd heading: 328.087351 deg.

2025-06-05T16:52:55.923Z,1749142375.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726204 target range: 96.499725 and range: 92.60 m.
2025-06-05T16:52:56.172Z,1749142376.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003479
2025-06-05T16:52:56.288Z,1749142376.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:56.292Z,1749142376.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 87.282196 m,
      bearing: 337.531343 deg,
      approach rate: -0.636161 m/s,
      LOS rate: 0.000951 deg/s,
      cmd heading: 328.087344 deg,
      new cmd heading: 328.088403 deg.

2025-06-05T16:52:56.293Z,1749142376.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726223 target range: 96.499725 and range: 92.60 m.
2025-06-05T16:52:56.423Z,1749142376.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254792
2025-06-05T16:52:56.675Z,1749142376.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506675
2025-06-05T16:52:56.841Z,1749142376.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:56.849Z,1749142376.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 86.955452 m,
      bearing: 337.531732 deg,
      approach rate: -0.591670 m/s,
      LOS rate: 0.000706 deg/s,
      cmd heading: 328.088410 deg,
      new cmd heading: 328.089580 deg.

2025-06-05T16:52:56.850Z,1749142376.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726243 target range: 96.499725 and range: 92.60 m.
2025-06-05T16:52:56.899Z,1749142376.899 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:52:56.928Z,1749142376.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759712
2025-06-05T16:52:57.179Z,1749142377.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010903
2025-06-05T16:52:57.217Z,1749142377.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:57.228Z,1749142377.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 86.685776 m,
      bearing: 337.527237 deg,
      approach rate: -0.715920 m/s,
      LOS rate: -0.011971 deg/s,
      cmd heading: 328.089585 deg,
      new cmd heading: 328.076057 deg.

2025-06-05T16:52:57.229Z,1749142377.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726007 target range: 96.499725 and range: 92.60 m.
2025-06-05T16:52:57.433Z,1749142377.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264338
2025-06-05T16:52:57.586Z,1749142377.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:57.588Z,1749142377.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:57.591Z,1749142377.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 86.435913 m,
      bearing: 337.523066 deg,
      approach rate: -0.673815 m/s,
      LOS rate: -0.011281 deg/s,
      cmd heading: 328.076061 deg,
      new cmd heading: 328.063512 deg.

2025-06-05T16:52:57.592Z,1749142377.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725789 target range: 96.499725 and range: 92.60 m.
2025-06-05T16:52:57.683Z,1749142377.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515037
2025-06-05T16:52:57.903Z,1749142377.903 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:52:57.935Z,1749142377.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766807
2025-06-05T16:52:58.077Z,1749142378.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:58.096Z,1749142378.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 86.105812 m,
      bearing: 337.516113 deg,
      approach rate: -0.675053 m/s,
      LOS rate: -0.014273 deg/s,
      cmd heading: 328.063521 deg,
      new cmd heading: 328.042582 deg.

2025-06-05T16:52:58.102Z,1749142378.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725423 target range: 96.499725 and range: 92.60 m.
2025-06-05T16:52:58.187Z,1749142378.187 [DAT](INFO): DAT read: Rx Time:16:52:56.7805

2025-06-05T16:52:58.188Z,1749142378.188 [DAT](INFO): Rx dataTimestamp_ set to:1749142378.187438
2025-06-05T16:52:58.188Z,1749142378.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019975
2025-06-05T16:52:58.439Z,1749142378.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270768
2025-06-05T16:52:58.441Z,1749142378.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.50 m.
2025-06-05T16:52:58.445Z,1749142378.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.499725 m,
      nav range: 85.873299 m,
      bearing: 337.511301 deg,
      approach rate: -0.638822 m/s,
      LOS rate: -0.013256 deg/s,
      cmd heading: 328.042593 deg,
      new cmd heading: 328.028119 deg.

2025-06-05T16:52:58.455Z,1749142378.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725171 target range: 96.499725 and range: 92.60 m.
2025-06-05T16:52:58.704Z,1749142378.704 [DAT](INFO): DAT read: 16:52:56.7805 LVL= 24256, 32753, 24898, 32755, AGC= 68, IDX= 412, 0.27, 2.721, 1.425, 2.525, 2.164, PHS= 0.644,-0.692, 0.357, RAW= 138.2,  -5.1, CAL= 143.9, -15.0, ROT=   6.1,  15.0

2025-06-05T16:52:58.705Z,1749142378.705 [DAT](INFO): got valid direction response:
 16:52:56.7805 LVL= 24256, 32753, 24898, 32755, AGC= 68, IDX= 412, 0.27, 2.721, 1.425, 2.525, 2.164, PHS= 0.644,-0.692, 0.357, RAW= 138.2,  -5.1, CAL= 143.9, -15.0, ROT=   6.1,  15.0

2025-06-05T16:52:58.706Z,1749142378.706 [DAT](INFO): DAT read: Bearing   6.1,  15.0 (Local)

2025-06-05T16:52:58.706Z,1749142378.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.1,  15.0 (Local)

2025-06-05T16:52:58.708Z,1749142378.708 [DAT](INFO): DAT read: Range 10 to 50 : 90.3 m  (Round-trip  120.4 ms) speed  0.7 m/s

2025-06-05T16:52:58.708Z,1749142378.708 [DAT](INFO): DAT read: user:2455>

2025-06-05T16:52:58.709Z,1749142378.709 [DAT](INFO): DAT read: Tx time:16:52:57.9060

2025-06-05T16:52:58.709Z,1749142378.709 [DAT](INFO): Ping request sent.
2025-06-05T16:52:58.710Z,1749142378.710 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:52:58.715Z,1749142378.715 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:52:58.716Z,1749142378.716 [DAT](INFO): direction in FSK: [0.960457,0.102643,-0.258819]
2025-06-05T16:52:58.716Z,1749142378.716 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:58.716Z,1749142378.716 [DAT](INFO): publishing direction and range info
2025-06-05T16:52:58.720Z,1749142378.720 [DAT](INFO): publishing transmit ping time
2025-06-05T16:52:58.720Z,1749142378.720 [DAT](INFO): publishing direction and range info
2025-06-05T16:52:58.943Z,1749142378.943 [DAT](INFO): DAT read: TxSync time:16:52:57.9052

2025-06-05T16:52:58.976Z,1749142378.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.300003 m,
      deltaT: 3.528396 s,
      deltaX: -2.299995 m,
      approachRate: -0.651853 m/s,
      rangeRepo size: 4

2025-06-05T16:52:58.983Z,1749142378.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.559998 m,
      bearing: 335.301058 deg,
      lat: 36.906271 deg,
      lon: -122.115842 deg,
      deltaT: 10.840729 s,
      deltaX: -6.939728 m,
      approachRate: -0.640153 m/s,
      posRepo size: 4

2025-06-05T16:52:58.984Z,1749142378.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.56 m.
2025-06-05T16:52:58.995Z,1749142378.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.559998 m,
      nav range: 85.640480 m,
      bearing: 337.282916 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013256 deg/s,
      cmd heading: 328.028113 deg,
      new cmd heading: 328.006861 deg.

2025-06-05T16:52:58.996Z,1749142378.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724800 target range: 89.559998 and range: 90.30 m.
2025-06-05T16:52:59.321Z,1749142379.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.56 m.
2025-06-05T16:52:59.328Z,1749142379.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.559998 m,
      nav range: 85.398239 m,
      bearing: 337.275482 deg,
      approach rate: -0.700742 m/s,
      LOS rate: -0.021564 deg/s,
      cmd heading: 328.006858 deg,
      new cmd heading: 327.984494 deg.

2025-06-05T16:52:59.329Z,1749142379.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724409 target range: 89.559998 and range: 90.30 m.
2025-06-05T16:52:59.705Z,1749142379.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:52:59.719Z,1749142379.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.56 m.
2025-06-05T16:52:59.728Z,1749142379.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.559998 m,
      nav range: 85.141457 m,
      bearing: 337.267367 deg,
      approach rate: -0.654071 m/s,
      LOS rate: -0.020733 deg/s,
      cmd heading: 327.984482 deg,
      new cmd heading: 327.960063 deg.

2025-06-05T16:52:59.729Z,1749142379.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723983 target range: 89.559998 and range: 90.30 m.
2025-06-05T16:52:59.952Z,1749142379.952 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:52:59.953Z,1749142379.953 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:52:59.954Z,1749142379.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:00.120Z,1749142380.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.56 m.
2025-06-05T16:53:00.123Z,1749142380.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.559998 m,
      nav range: 84.843208 m,
      bearing: 337.258012 deg,
      approach rate: -0.734940 m/s,
      LOS rate: -0.023133 deg/s,
      cmd heading: 327.960057 deg,
      new cmd heading: 327.931894 deg.

2025-06-05T16:53:00.124Z,1749142380.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723491 target range: 89.559998 and range: 90.30 m.
2025-06-05T16:53:00.204Z,1749142380.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494458
2025-06-05T16:53:00.455Z,1749142380.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745426
2025-06-05T16:53:00.512Z,1749142380.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.56 m.
2025-06-05T16:53:00.516Z,1749142380.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.559998 m,
      nav range: 84.570213 m,
      bearing: 337.249391 deg,
      approach rate: -0.696219 m/s,
      LOS rate: -0.022056 deg/s,
      cmd heading: 327.931889 deg,
      new cmd heading: 327.905944 deg.

2025-06-05T16:53:00.517Z,1749142380.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723038 target range: 89.559998 and range: 90.30 m.
2025-06-05T16:53:00.709Z,1749142380.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999290
2025-06-05T16:53:00.959Z,1749142380.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249527
2025-06-05T16:53:00.970Z,1749142380.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.56 m.
2025-06-05T16:53:00.973Z,1749142380.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.559998 m,
      nav range: 84.253395 m,
      bearing: 337.240981 deg,
      approach rate: -0.690913 m/s,
      LOS rate: -0.018410 deg/s,
      cmd heading: 327.905935 deg,
      new cmd heading: 327.880608 deg.

2025-06-05T16:53:00.974Z,1749142380.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722596 target range: 89.559998 and range: 90.30 m.
2025-06-05T16:53:01.211Z,1749142381.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501607
2025-06-05T16:53:01.302Z,1749142381.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.56 m.
2025-06-05T16:53:01.305Z,1749142381.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.559998 m,
      nav range: 84.023155 m,
      bearing: 337.234905 deg,
      approach rate: -0.694385 m/s,
      LOS rate: -0.018373 deg/s,
      cmd heading: 327.880608 deg,
      new cmd heading: 327.862332 deg.

2025-06-05T16:53:01.306Z,1749142381.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722277 target range: 89.559998 and range: 90.30 m.
2025-06-05T16:53:01.465Z,1749142381.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755450
2025-06-05T16:53:01.715Z,1749142381.715 [DAT](INFO): DAT read: Rx Time:16:53:00.4274

2025-06-05T16:53:01.716Z,1749142381.716 [DAT](INFO): Rx dataTimestamp_ set to:1749142381.715234
2025-06-05T16:53:01.716Z,1749142381.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006476
2025-06-05T16:53:01.967Z,1749142381.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257502
2025-06-05T16:53:02.093Z,1749142382.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:02.100Z,1749142382.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.56 m.
2025-06-05T16:53:02.107Z,1749142382.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.559998 m,
      nav range: 83.495537 m,
      bearing: 337.227889 deg,
      approach rate: -0.661236 m/s,
      LOS rate: -0.008848 deg/s,
      cmd heading: 327.862331 deg,
      new cmd heading: 327.841149 deg.

2025-06-05T16:53:02.108Z,1749142382.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721908 target range: 89.559998 and range: 90.30 m.
2025-06-05T16:53:02.224Z,1749142382.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513081
2025-06-05T16:53:02.411Z,1749142382.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.56 m.
2025-06-05T16:53:02.416Z,1749142382.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.559998 m,
      nav range: 83.265923 m,
      bearing: 337.225154 deg,
      approach rate: -0.737638 m/s,
      LOS rate: -0.008812 deg/s,
      cmd heading: 327.841157 deg,
      new cmd heading: 327.832928 deg.

2025-06-05T16:53:02.417Z,1749142382.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721764 target range: 89.559998 and range: 90.30 m.
2025-06-05T16:53:02.482Z,1749142382.482 [DAT](INFO): DAT read: 16:53:00.4274 LVL= 23104, 23121, 16418, 26227, AGC= 68, IDX= 413,-0.30, 1.960, 0.634, 1.784, 1.355, PHS= 0.693,-0.674, 0.426, RAW= 139.4,  -7.1, CAL= 145.5, -17.0, ROT=   4.5,  17.0

2025-06-05T16:53:02.495Z,1749142382.495 [DAT](INFO): got valid direction response:
 16:53:00.4274 LVL= 23104, 23121, 16418, 26227, AGC= 68, IDX= 413,-0.30, 1.960, 0.634, 1.784, 1.355, PHS= 0.693,-0.674, 0.426, RAW= 139.4,  -7.1, CAL= 145.5, -17.0, ROT=   4.5,  17.0

2025-06-05T16:53:02.496Z,1749142382.496 [DAT](INFO): DAT read: Bearing   4.5,  17.0 (Local)

2025-06-05T16:53:02.497Z,1749142382.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.5,  17.0 (Local)

2025-06-05T16:53:02.528Z,1749142382.528 [DAT](INFO): DAT read: Range 10 to 50 : 87.9 m  (Round-trip  117.2 ms) speed  0.7 m/s

2025-06-05T16:53:02.545Z,1749142382.545 [DAT](INFO): DAT read: user:2456>

2025-06-05T16:53:02.558Z,1749142382.558 [DAT](INFO): DAT read: Tx time:16:53:01.5560

2025-06-05T16:53:02.559Z,1749142382.559 [DAT](INFO): Ping request sent.
2025-06-05T16:53:02.559Z,1749142382.559 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:02.560Z,1749142382.560 [DAT](INFO): DAT read: TxSync time:16:53:01.5552

2025-06-05T16:53:02.560Z,1749142382.560 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:53:02.561Z,1749142382.561 [DAT](INFO): direction in FSK: [0.953357,0.075031,-0.292372]
2025-06-05T16:53:02.561Z,1749142382.561 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:02.561Z,1749142382.561 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:02.569Z,1749142382.569 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:02.569Z,1749142382.569 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:02.835Z,1749142382.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.900002 m,
      deltaT: 3.779945 s,
      deltaX: -2.400002 m,
      approachRate: -0.634930 m/s,
      rangeRepo size: 4

2025-06-05T16:53:02.838Z,1749142382.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.179886 m,
      bearing: 333.691167 deg,
      lat: 36.906271 deg,
      lon: -122.115855 deg,
      deltaT: 3.779945 s,
      deltaX: -2.380112 m,
      approachRate: -0.629668 m/s,
      posRepo size: 4

2025-06-05T16:53:02.844Z,1749142382.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.18 m.
2025-06-05T16:53:02.851Z,1749142382.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.179886 m,
      nav range: 83.456207 m,
      bearing: 336.474784 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008812 deg/s,
      cmd heading: 327.832934 deg,
      new cmd heading: 327.821729 deg.

2025-06-05T16:53:02.852Z,1749142382.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721569 target range: 87.179886 and range: 87.90 m.
2025-06-05T16:53:03.216Z,1749142383.216 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,       -0.65, 8   -0.00,429.37
2025-06-05T16:53:03.264Z,1749142383.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.18 m.
2025-06-05T16:53:03.272Z,1749142383.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.179886 m,
      nav range: 83.157700 m,
      bearing: 336.468844 deg,
      approach rate: -0.696899 m/s,
      LOS rate: -0.013919 deg/s,
      cmd heading: 327.821732 deg,
      new cmd heading: 327.803846 deg.

2025-06-05T16:53:03.273Z,1749142383.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721256 target range: 87.179886 and range: 87.90 m.
2025-06-05T16:53:03.617Z,1749142383.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.18 m.
2025-06-05T16:53:03.619Z,1749142383.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.179886 m,
      nav range: 82.908524 m,
      bearing: 336.464138 deg,
      approach rate: -0.704970 m/s,
      LOS rate: -0.013354 deg/s,
      cmd heading: 327.803837 deg,
      new cmd heading: 327.789677 deg.

2025-06-05T16:53:03.620Z,1749142383.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721009 target range: 87.179886 and range: 87.90 m.
2025-06-05T16:53:04.014Z,1749142384.014 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060508542015,35.0, +10.4,   0.0, 0
2025-06-05T16:53:04.046Z,1749142384.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.18 m.
2025-06-05T16:53:04.053Z,1749142384.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.179886 m,
      nav range: 82.622185 m,
      bearing: 336.458743 deg,
      approach rate: -0.667204 m/s,
      LOS rate: -0.012614 deg/s,
      cmd heading: 327.789685 deg,
      new cmd heading: 327.773444 deg.

2025-06-05T16:53:04.054Z,1749142384.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720726 target range: 87.179886 and range: 87.90 m.
2025-06-05T16:53:04.425Z,1749142384.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:04.427Z,1749142384.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.18 m.
2025-06-05T16:53:04.431Z,1749142384.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.179886 m,
      nav range: 82.356651 m,
      bearing: 336.453763 deg,
      approach rate: -0.696125 m/s,
      LOS rate: -0.013098 deg/s,
      cmd heading: 327.773456 deg,
      new cmd heading: 327.758468 deg.

2025-06-05T16:53:04.432Z,1749142384.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720464 target range: 87.179886 and range: 87.90 m.
2025-06-05T16:53:04.487Z,1749142384.487 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:04.487Z,1749142384.487 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:04.488Z,1749142384.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:04.740Z,1749142384.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180272
2025-06-05T16:53:04.841Z,1749142384.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.18 m.
2025-06-05T16:53:04.844Z,1749142384.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.179886 m,
      nav range: 82.074150 m,
      bearing: 336.448663 deg,
      approach rate: -0.682263 m/s,
      LOS rate: -0.012360 deg/s,
      cmd heading: 327.758457 deg,
      new cmd heading: 327.743103 deg.

2025-06-05T16:53:04.845Z,1749142384.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720196 target range: 87.179886 and range: 87.90 m.
2025-06-05T16:53:04.991Z,1749142384.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.432381
2025-06-05T16:53:05.243Z,1749142385.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.684500
2025-06-05T16:53:05.292Z,1749142385.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.18 m.
2025-06-05T16:53:05.304Z,1749142385.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.179886 m,
      nav range: 81.786385 m,
      bearing: 336.454268 deg,
      approach rate: -0.637932 m/s,
      LOS rate: 0.012470 deg/s,
      cmd heading: 327.743103 deg,
      new cmd heading: 327.759978 deg.

2025-06-05T16:53:05.307Z,1749142385.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720491 target range: 87.179886 and range: 87.90 m.
2025-06-05T16:53:05.495Z,1749142385.495 [DAT](INFO): DAT read: Rx Time:16:53:04.0741

2025-06-05T16:53:05.496Z,1749142385.496 [DAT](INFO): Rx dataTimestamp_ set to:1749142385.495241
2025-06-05T16:53:05.497Z,1749142385.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.937161
2025-06-05T16:53:05.650Z,1749142385.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.18 m.
2025-06-05T16:53:05.653Z,1749142385.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.179886 m,
      nav range: 81.548836 m,
      bearing: 336.459113 deg,
      approach rate: -0.663874 m/s,
      LOS rate: 0.013580 deg/s,
      cmd heading: 327.759987 deg,
      new cmd heading: 327.774565 deg.

2025-06-05T16:53:05.654Z,1749142385.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720746 target range: 87.179886 and range: 87.90 m.
2025-06-05T16:53:05.747Z,1749142385.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.188419
2025-06-05T16:53:06.005Z,1749142386.005 [DAT](INFO): DAT read: 16:53:04.0741 LVL= 23760, 32753, 24354, 32755, AGC= 67, IDX= 410, 0.31, 2.444, 1.095, 2.253, 1.830, PHS= 0.703,-0.688, 0.420, RAW= 138.9,  -6.9, CAL= 144.9, -16.9, ROT=   5.1,  16.9

2025-06-05T16:53:06.010Z,1749142386.010 [DAT](INFO): got valid direction response:
 16:53:04.0741 LVL= 23760, 32753, 24354, 32755, AGC= 67, IDX= 410, 0.31, 2.444, 1.095, 2.253, 1.830, PHS= 0.703,-0.688, 0.420, RAW= 138.9,  -6.9, CAL= 144.9, -16.9, ROT=   5.1,  16.9

2025-06-05T16:53:06.011Z,1749142386.011 [DAT](INFO): DAT read: Bearing   5.1,  16.9 (Local)

2025-06-05T16:53:06.011Z,1749142386.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.1,  16.9 (Local)

2025-06-05T16:53:06.013Z,1749142386.013 [DAT](INFO): DAT read: Range 10 to 50 : 85.4 m  (Round-trip  113.9 ms) speed  0.8 m/s

2025-06-05T16:53:06.015Z,1749142386.015 [DAT](INFO): DAT read: user:2457>

2025-06-05T16:53:06.016Z,1749142386.016 [DAT](INFO): DAT read: Tx time:16:53:05.1560

2025-06-05T16:53:06.016Z,1749142386.016 [DAT](INFO): Ping request sent.
2025-06-05T16:53:06.016Z,1749142386.016 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:06.016Z,1749142386.016 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:53:06.017Z,1749142386.017 [DAT](INFO): direction in FSK: [0.953026,0.085055,-0.290702]
2025-06-05T16:53:06.018Z,1749142386.018 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:06.018Z,1749142386.018 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:06.021Z,1749142386.021 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:06.021Z,1749142386.021 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:06.188Z,1749142386.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.400002 m,
      deltaT: 3.527540 s,
      deltaX: -2.500000 m,
      approachRate: -0.708709 m/s,
      rangeRepo size: 4

2025-06-05T16:53:06.197Z,1749142386.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.700119 m,
      bearing: 333.929723 deg,
      lat: 36.906270 deg,
      lon: -122.115878 deg,
      deltaT: 3.527540 s,
      deltaX: -2.479767 m,
      approachRate: -0.702973 m/s,
      posRepo size: 4

2025-06-05T16:53:06.203Z,1749142386.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m.
2025-06-05T16:53:06.205Z,1749142386.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.700119 m,
      nav range: 81.878059 m,
      bearing: 335.134648 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013580 deg/s,
      cmd heading: 327.774576 deg,
      new cmd heading: 327.796467 deg.

2025-06-05T16:53:06.210Z,1749142386.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721128 target range: 84.700119 and range: 85.40 m.
2025-06-05T16:53:06.251Z,1749142386.251 [DAT](INFO): DAT read: TxSync time:16:53:05.1552

2025-06-05T16:53:06.494Z,1749142386.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:06.498Z,1749142386.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m.
2025-06-05T16:53:06.500Z,1749142386.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.700119 m,
      nav range: 81.665710 m,
      bearing: 335.135516 deg,
      approach rate: -0.687512 m/s,
      LOS rate: 0.002819 deg/s,
      cmd heading: 327.796460 deg,
      new cmd heading: 327.799073 deg.

2025-06-05T16:53:06.501Z,1749142386.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721173 target range: 84.700119 and range: 85.40 m.
2025-06-05T16:53:06.503Z,1749142386.503 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:06.503Z,1749142386.503 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:06.503Z,1749142386.503 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:06.757Z,1749142386.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.740281
2025-06-05T16:53:06.916Z,1749142386.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m.
2025-06-05T16:53:06.933Z,1749142386.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.700119 m,
      nav range: 81.411392 m,
      bearing: 335.136762 deg,
      approach rate: -0.606519 m/s,
      LOS rate: 0.002980 deg/s,
      cmd heading: 327.799083 deg,
      new cmd heading: 327.802832 deg.

2025-06-05T16:53:06.945Z,1749142386.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721239 target range: 84.700119 and range: 85.40 m.
2025-06-05T16:53:07.007Z,1749142387.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991092
2025-06-05T16:53:07.259Z,1749142387.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242893
2025-06-05T16:53:07.347Z,1749142387.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m.
2025-06-05T16:53:07.351Z,1749142387.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.700119 m,
      nav range: 81.123558 m,
      bearing: 335.136158 deg,
      approach rate: -0.668530 m/s,
      LOS rate: -0.001407 deg/s,
      cmd heading: 327.802826 deg,
      new cmd heading: 327.801009 deg.

2025-06-05T16:53:07.352Z,1749142387.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721207 target range: 84.700119 and range: 85.40 m.
2025-06-05T16:53:07.511Z,1749142387.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495009
2025-06-05T16:53:07.725Z,1749142387.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m.
2025-06-05T16:53:07.729Z,1749142387.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.700119 m,
      nav range: 80.887390 m,
      bearing: 335.135897 deg,
      approach rate: -0.624131 m/s,
      LOS rate: -0.000693 deg/s,
      cmd heading: 327.800996 deg,
      new cmd heading: 327.800209 deg.

2025-06-05T16:53:07.730Z,1749142387.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721193 target range: 84.700119 and range: 85.40 m.
2025-06-05T16:53:07.764Z,1749142387.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747651
2025-06-05T16:53:08.016Z,1749142388.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999833
2025-06-05T16:53:08.155Z,1749142388.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m.
2025-06-05T16:53:08.158Z,1749142388.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.700119 m,
      nav range: 80.616386 m,
      bearing: 335.136767 deg,
      approach rate: -0.629682 m/s,
      LOS rate: 0.002027 deg/s,
      cmd heading: 327.800203 deg,
      new cmd heading: 327.802821 deg.

2025-06-05T16:53:08.163Z,1749142388.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721239 target range: 84.700119 and range: 85.40 m.
2025-06-05T16:53:08.269Z,1749142388.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253053
2025-06-05T16:53:08.520Z,1749142388.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503286
2025-06-05T16:53:08.557Z,1749142388.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:08.571Z,1749142388.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m.
2025-06-05T16:53:08.573Z,1749142388.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.700119 m,
      nav range: 80.351967 m,
      bearing: 335.138120 deg,
      approach rate: -0.643797 m/s,
      LOS rate: 0.003307 deg/s,
      cmd heading: 327.802826 deg,
      new cmd heading: 327.806900 deg.

2025-06-05T16:53:08.579Z,1749142388.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721310 target range: 84.700119 and range: 85.40 m.
2025-06-05T16:53:08.771Z,1749142388.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754889
2025-06-05T16:53:09.019Z,1749142389.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m.
2025-06-05T16:53:09.023Z,1749142389.023 [DAT](INFO): DAT read: Rx Time:16:53:07.6709

2025-06-05T16:53:09.024Z,1749142389.024 [DAT](INFO): Rx dataTimestamp_ set to:1749142389.023516
2025-06-05T16:53:09.024Z,1749142389.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008132
2025-06-05T16:53:09.027Z,1749142389.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.700119 m,
      nav range: 80.096313 m,
      bearing: 335.139792 deg,
      approach rate: -0.563428 m/s,
      LOS rate: 0.003696 deg/s,
      cmd heading: 327.806897 deg,
      new cmd heading: 327.811928 deg.

2025-06-05T16:53:09.028Z,1749142389.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721397 target range: 84.700119 and range: 85.40 m.
2025-06-05T16:53:09.276Z,1749142389.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259277
2025-06-05T16:53:09.383Z,1749142389.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m.
2025-06-05T16:53:09.386Z,1749142389.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.700119 m,
      nav range: 79.822334 m,
      bearing: 335.135056 deg,
      approach rate: -0.753052 m/s,
      LOS rate: -0.013062 deg/s,
      cmd heading: 327.811924 deg,
      new cmd heading: 327.797667 deg.

2025-06-05T16:53:09.387Z,1749142389.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721148 target range: 84.700119 and range: 85.40 m.
2025-06-05T16:53:09.538Z,1749142389.538 [DAT](INFO): DAT read: 16:53:07.6709 LVL= 27968, 32753, 27378, 32755, AGC= 68, IDX= 410,-0.40,-0.785,-2.204,-1.020,-1.455, PHS= 0.757,-0.702, 0.432, RAW= 137.7,  -7.4, CAL= 143.8, -17.7, ROT=   6.2,  17.7

2025-06-05T16:53:09.540Z,1749142389.540 [DAT](INFO): got valid direction response:
 16:53:07.6709 LVL= 27968, 32753, 27378, 32755, AGC= 68, IDX= 410,-0.40,-0.785,-2.204,-1.020,-1.455, PHS= 0.757,-0.702, 0.432, RAW= 137.7,  -7.4, CAL= 143.8, -17.7, ROT=   6.2,  17.7

2025-06-05T16:53:09.545Z,1749142389.545 [DAT](INFO): DAT read: Bearing   6.2,  17.7 (Local)

2025-06-05T16:53:09.558Z,1749142389.558 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.2,  17.7 (Local)

2025-06-05T16:53:09.560Z,1749142389.560 [DAT](INFO): DAT read: Range 10 to 50 : 83.0 m  (Round-trip  110.7 ms) speed  0.5 m/s

2025-06-05T16:53:09.561Z,1749142389.561 [DAT](INFO): DAT read: user:2458>

2025-06-05T16:53:09.563Z,1749142389.563 [DAT](INFO): DAT read: Tx time:16:53:08.7561

2025-06-05T16:53:09.565Z,1749142389.565 [DAT](INFO): Ping request sent.
2025-06-05T16:53:09.565Z,1749142389.565 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:09.565Z,1749142389.565 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:53:09.572Z,1749142389.572 [DAT](INFO): direction in FSK: [0.947089,0.102887,-0.304033]
2025-06-05T16:53:09.572Z,1749142389.572 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:09.573Z,1749142389.573 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:09.603Z,1749142389.603 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:09.604Z,1749142389.604 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:09.779Z,1749142389.779 [DAT](INFO): DAT read: TxSync time:16:53:08.7553

2025-06-05T16:53:09.820Z,1749142389.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 83.000000 m,
      deltaT: 3.528582 s,
      deltaX: -2.400002 m,
      approachRate: -0.680160 m/s,
      rangeRepo size: 4

2025-06-05T16:53:09.847Z,1749142389.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.318268 m,
      bearing: 334.587535 deg,
      lat: 36.906267 deg,
      lon: -122.115885 deg,
      deltaT: 3.528582 s,
      deltaX: -2.381851 m,
      approachRate: -0.675017 m/s,
      posRepo size: 4

2025-06-05T16:53:09.848Z,1749142389.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-06-05T16:53:09.851Z,1749142389.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.318268 m,
      nav range: 79.496925 m,
      bearing: 334.587744 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013062 deg/s,
      cmd heading: 327.797662 deg,
      new cmd heading: 327.780556 deg.

2025-06-05T16:53:09.852Z,1749142389.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720850 target range: 82.318268 and range: 83.00 m.
2025-06-05T16:53:10.290Z,1749142390.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-06-05T16:53:10.293Z,1749142390.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.318268 m,
      nav range: 79.192947 m,
      bearing: 334.573552 deg,
      approach rate: -0.647115 m/s,
      LOS rate: -0.030329 deg/s,
      cmd heading: 327.780560 deg,
      new cmd heading: 327.737819 deg.

2025-06-05T16:53:10.293Z,1749142390.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720104 target range: 82.318268 and range: 83.00 m.
2025-06-05T16:53:10.713Z,1749142390.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:10.716Z,1749142390.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-06-05T16:53:10.719Z,1749142390.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.318268 m,
      nav range: 78.917175 m,
      bearing: 334.560680 deg,
      approach rate: -0.647052 m/s,
      LOS rate: -0.030307 deg/s,
      cmd heading: 327.737830 deg,
      new cmd heading: 327.699080 deg.

2025-06-05T16:53:10.720Z,1749142390.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719428 target range: 82.318268 and range: 83.00 m.
2025-06-05T16:53:10.788Z,1749142390.788 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:10.788Z,1749142390.788 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:10.788Z,1749142390.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:11.042Z,1749142391.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476808
2025-06-05T16:53:11.157Z,1749142391.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-06-05T16:53:11.160Z,1749142391.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.318268 m,
      nav range: 78.640938 m,
      bearing: 334.545435 deg,
      approach rate: -0.625949 m/s,
      LOS rate: -0.034666 deg/s,
      cmd heading: 327.699089 deg,
      new cmd heading: 327.653194 deg.

2025-06-05T16:53:11.161Z,1749142391.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718627 target range: 82.318268 and range: 83.00 m.
2025-06-05T16:53:11.291Z,1749142391.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726801
2025-06-05T16:53:11.544Z,1749142391.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979272
2025-06-05T16:53:11.614Z,1749142391.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-06-05T16:53:11.617Z,1749142391.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.318268 m,
      nav range: 78.334015 m,
      bearing: 334.528370 deg,
      approach rate: -0.673207 m/s,
      LOS rate: -0.037578 deg/s,
      cmd heading: 327.653190 deg,
      new cmd heading: 327.601794 deg.

2025-06-05T16:53:11.620Z,1749142391.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717730 target range: 82.318268 and range: 83.00 m.
2025-06-05T16:53:11.795Z,1749142391.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230951
2025-06-05T16:53:11.946Z,1749142391.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-06-05T16:53:11.951Z,1749142391.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.318268 m,
      nav range: 78.117920 m,
      bearing: 334.515463 deg,
      approach rate: -0.649224 m/s,
      LOS rate: -0.038884 deg/s,
      cmd heading: 327.601800 deg,
      new cmd heading: 327.562972 deg.

2025-06-05T16:53:11.952Z,1749142391.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717052 target range: 82.318268 and range: 83.00 m.
2025-06-05T16:53:12.050Z,1749142392.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485286
2025-06-05T16:53:12.299Z,1749142392.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734561
2025-06-05T16:53:12.393Z,1749142392.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-06-05T16:53:12.397Z,1749142392.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.318268 m,
      nav range: 77.823250 m,
      bearing: 334.495606 deg,
      approach rate: -0.658342 m/s,
      LOS rate: -0.044532 deg/s,
      cmd heading: 327.562977 deg,
      new cmd heading: 327.503181 deg.

2025-06-05T16:53:12.399Z,1749142392.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716009 target range: 82.318268 and range: 83.00 m.
2025-06-05T16:53:12.552Z,1749142392.552 [DAT](INFO): DAT read: Rx:53:11.2678

2025-06-05T16:53:12.553Z,1749142392.553 [DAT](INFO): unknown deviceResponse_: Rx:53:11.2678

2025-06-05T16:53:12.554Z,1749142392.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988705
2025-06-05T16:53:12.763Z,1749142392.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:12.765Z,1749142392.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-06-05T16:53:12.768Z,1749142392.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.318268 m,
      nav range: 77.578407 m,
      bearing: 334.478991 deg,
      approach rate: -0.659036 m/s,
      LOS rate: -0.044862 deg/s,
      cmd heading: 327.503172 deg,
      new cmd heading: 327.453171 deg.

2025-06-05T16:53:12.769Z,1749142392.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715136 target range: 82.318268 and range: 83.00 m.
2025-06-05T16:53:12.805Z,1749142392.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240103
2025-06-05T16:53:13.060Z,1749142393.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494557
2025-06-05T16:53:13.191Z,1749142393.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-06-05T16:53:13.193Z,1749142393.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.318268 m,
      nav range: 77.308578 m,
      bearing: 334.459944 deg,
      approach rate: -0.634784 m/s,
      LOS rate: -0.044966 deg/s,
      cmd heading: 327.453175 deg,
      new cmd heading: 327.395834 deg.

2025-06-05T16:53:13.199Z,1749142393.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714135 target range: 82.318268 and range: 83.00 m.
2025-06-05T16:53:13.317Z,1749142393.317 [DAT](INFO): DAT read: 16:53:11.2678 LVL= 22992, 23537, 20594, 32755, AGC= 66, IDX= 410,-0.30, 2.554, 1.174, 2.359, 1.886, PHS= 0.756,-0.666, 0.470, RAW= 139.0,  -8.6, CAL= 145.4, -18.8, ROT=   4.6,  18.8

2025-06-05T16:53:13.318Z,1749142393.318 [DAT](INFO): got valid direction response:
 16:53:11.2678 LVL= 22992, 23537, 20594, 32755, AGC= 66, IDX= 410,-0.30, 2.554, 1.174, 2.359, 1.886, PHS= 0.756,-0.666, 0.470, RAW= 139.0,  -8.6, CAL= 145.4, -18.8, ROT=   4.6,  18.8

2025-06-05T16:53:13.319Z,1749142393.319 [DAT](INFO): DAT read: Bearing   4.6,  18.8 (Local)

2025-06-05T16:53:13.319Z,1749142393.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.6,  18.8 (Local)

2025-06-05T16:53:13.321Z,1749142393.321 [DAT](INFO): DAT read: Range 10 to 50 : 80.7 m  (Round-trip  107.6 ms) speed  0.5 m/s

2025-06-05T16:53:13.322Z,1749142393.322 [DAT](INFO): DAT read: user:2459>

2025-06-05T16:53:13.322Z,1749142393.322 [DAT](INFO): DAT read: Tx time:16:53:12.3561

2025-06-05T16:53:13.323Z,1749142393.323 [DAT](INFO): Ping request sent.
2025-06-05T16:53:13.323Z,1749142393.323 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:13.323Z,1749142393.323 [DAT](INFO): DAT read: TxSync time:16:53:12.3553

2025-06-05T16:53:13.324Z,1749142393.324 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:53:13.325Z,1749142393.325 [DAT](INFO): direction in FSK: [0.943600,0.075920,-0.322266]
2025-06-05T16:53:13.325Z,1749142393.325 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:13.325Z,1749142393.325 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:13.334Z,1749142393.334 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:13.342Z,1749142393.342 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:13.588Z,1749142393.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.699997 m,
      deltaT: 3.779494 s,
      deltaX: -2.300003 m,
      approachRate: -0.608548 m/s,
      rangeRepo size: 4

2025-06-05T16:53:13.594Z,1749142393.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 80.035606 m,
      bearing: 334.024901 deg,
      lat: 36.906264 deg,
      lon: -122.115890 deg,
      deltaT: 3.779494 s,
      deltaX: -2.282661 m,
      approachRate: -0.603960 m/s,
      posRepo size: 4

2025-06-05T16:53:13.595Z,1749142393.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.04 m.
2025-06-05T16:53:13.603Z,1749142393.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.035606 m,
      nav range: 76.938660 m,
      bearing: 334.025107 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044966 deg/s,
      cmd heading: 327.395829 deg,
      new cmd heading: 327.342259 deg.

2025-06-05T16:53:13.604Z,1749142393.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713200 target range: 80.035606 and range: 80.70 m.
2025-06-05T16:53:13.978Z,1749142393.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.04 m.
2025-06-05T16:53:13.982Z,1749142393.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.035606 m,
      nav range: 76.662880 m,
      bearing: 334.002604 deg,
      approach rate: -0.705908 m/s,
      LOS rate: -0.057808 deg/s,
      cmd heading: 327.342253 deg,
      new cmd heading: 327.274501 deg.

2025-06-05T16:53:13.983Z,1749142393.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712018 target range: 80.035606 and range: 80.70 m.
2025-06-05T16:53:14.377Z,1749142394.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.04 m.
2025-06-05T16:53:14.383Z,1749142394.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.035606 m,
      nav range: 76.400352 m,
      bearing: 333.983983 deg,
      approach rate: -0.656989 m/s,
      LOS rate: -0.046761 deg/s,
      cmd heading: 327.274497 deg,
      new cmd heading: 327.218441 deg.

2025-06-05T16:53:14.384Z,1749142394.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711039 target range: 80.035606 and range: 80.70 m.
2025-06-05T16:53:14.778Z,1749142394.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:14.783Z,1749142394.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.04 m.
2025-06-05T16:53:14.785Z,1749142394.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.035606 m,
      nav range: 76.136734 m,
      bearing: 333.964742 deg,
      approach rate: -0.652629 m/s,
      LOS rate: -0.047797 deg/s,
      cmd heading: 327.218435 deg,
      new cmd heading: 327.160515 deg.

2025-06-05T16:53:14.789Z,1749142394.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710028 target range: 80.035606 and range: 80.70 m.
2025-06-05T16:53:14.823Z,1749142394.823 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:14.823Z,1749142394.823 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:14.823Z,1749142394.823 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:15.079Z,1749142395.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755492
2025-06-05T16:53:15.207Z,1749142395.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.04 m.
2025-06-05T16:53:15.215Z,1749142395.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.035606 m,
      nav range: 75.870445 m,
      bearing: 333.947408 deg,
      approach rate: -0.625073 m/s,
      LOS rate: -0.040833 deg/s,
      cmd heading: 327.160515 deg,
      new cmd heading: 327.108329 deg.

2025-06-05T16:53:15.216Z,1749142395.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709117 target range: 80.035606 and range: 80.70 m.
2025-06-05T16:53:15.328Z,1749142395.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005040
2025-06-05T16:53:15.572Z,1749142395.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.04 m.
2025-06-05T16:53:15.576Z,1749142395.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.035606 m,
      nav range: 75.612602 m,
      bearing: 333.929932 deg,
      approach rate: -0.706580 m/s,
      LOS rate: -0.048053 deg/s,
      cmd heading: 327.108332 deg,
      new cmd heading: 327.055727 deg.

2025-06-05T16:53:15.577Z,1749142395.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708200 target range: 80.035606 and range: 80.70 m.
2025-06-05T16:53:15.579Z,1749142395.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256317
2025-06-05T16:53:15.831Z,1749142395.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508222
2025-06-05T16:53:15.977Z,1749142395.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.04 m.
2025-06-05T16:53:15.980Z,1749142395.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.035606 m,
      nav range: 75.343048 m,
      bearing: 333.911258 deg,
      approach rate: -0.666173 m/s,
      LOS rate: -0.046316 deg/s,
      cmd heading: 327.055740 deg,
      new cmd heading: 326.999517 deg.

2025-06-05T16:53:15.981Z,1749142395.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707218 target range: 80.035606 and range: 80.70 m.
2025-06-05T16:53:16.086Z,1749142396.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762702
2025-06-05T16:53:16.335Z,1749142396.335 [DAT](INFO): DAT read: Rx Time:16:53:14.8647

2025-06-05T16:53:16.336Z,1749142396.336 [DAT](INFO): Rx dataTimestamp_ set to:1749142396.335333
2025-06-05T16:53:16.336Z,1749142396.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013290
2025-06-05T16:53:16.420Z,1749142396.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.04 m.
2025-06-05T16:53:16.423Z,1749142396.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.035606 m,
      nav range: 75.045204 m,
      bearing: 333.893084 deg,
      approach rate: -0.671894 m/s,
      LOS rate: -0.041162 deg/s,
      cmd heading: 326.999514 deg,
      new cmd heading: 326.944774 deg.

2025-06-05T16:53:16.424Z,1749142396.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706263 target range: 80.035606 and range: 80.70 m.
2025-06-05T16:53:16.587Z,1749142396.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264563
2025-06-05T16:53:16.812Z,1749142396.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:16.819Z,1749142396.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.04 m.
2025-06-05T16:53:16.822Z,1749142396.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.035606 m,
      nav range: 74.792274 m,
      bearing: 333.877797 deg,
      approach rate: -0.634248 m/s,
      LOS rate: -0.038463 deg/s,
      cmd heading: 326.944763 deg,
      new cmd heading: 326.898747 deg.

2025-06-05T16:53:16.827Z,1749142396.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705460 target range: 80.035606 and range: 80.70 m.
2025-06-05T16:53:16.847Z,1749142396.847 [DAT](INFO): DAT read: 16:53:14.8647 LVL= 23648, 29025, 17634, 31187, AGC= 68, IDX= 410,-0.26,-1.201,-2.584,-1.401,-1.892, PHS= 0.779,-0.645, 0.488, RAW= 138.8,  -9.6, CAL= 145.3, -19.9, ROT=   4.7,  19.9

2025-06-05T16:53:16.848Z,1749142396.848 [DAT](INFO): got valid direction response:
 16:53:14.8647 LVL= 23648, 29025, 17634, 31187, AGC= 68, IDX= 410,-0.26,-1.201,-2.584,-1.401,-1.892, PHS= 0.779,-0.645, 0.488, RAW= 138.8,  -9.6, CAL= 145.3, -19.9, ROT=   4.7,  19.9

2025-06-05T16:53:16.849Z,1749142396.849 [DAT](INFO): DAT read: Bearing   4.7,  19.9 (Local)

2025-06-05T16:53:16.849Z,1749142396.849 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.7,  19.9 (Local)

2025-06-05T16:53:16.851Z,1749142396.851 [DAT](INFO): DAT read: Range 10 to 50 : 78.3 m  (Round-trip  104.4 ms) speed  0.5 m/s

2025-06-05T16:53:16.854Z,1749142396.854 [DAT](INFO): DAT read: user:2460>

2025-06-05T16:53:16.865Z,1749142396.865 [DAT](INFO): DAT read: Tx time:16:53:15.9561

2025-06-05T16:53:16.907Z,1749142396.907 [DAT](INFO): Ping request sent.
2025-06-05T16:53:16.907Z,1749142396.907 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:16.908Z,1749142396.908 [DAT](INFO): DAT read: TxSync time:16:53:15.9553

2025-06-05T16:53:16.909Z,1749142396.909 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:53:16.919Z,1749142396.919 [DAT](INFO): direction in FSK: [0.937126,0.077046,-0.340380]
2025-06-05T16:53:16.920Z,1749142396.920 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:16.920Z,1749142396.920 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:16.939Z,1749142396.939 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:16.939Z,1749142396.939 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:17.291Z,1749142397.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.300003 m,
      deltaT: 3.533787 s,
      deltaX: -2.399994 m,
      approachRate: -0.679156 m/s,
      rangeRepo size: 4

2025-06-05T16:53:17.293Z,1749142397.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.654465 m,
      bearing: 334.477559 deg,
      lat: 36.906264 deg,
      lon: -122.115890 deg,
      deltaT: 3.533787 s,
      deltaX: -2.381142 m,
      approachRate: -0.673822 m/s,
      posRepo size: 4

2025-06-05T16:53:17.294Z,1749142397.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.65 m.
2025-06-05T16:53:17.301Z,1749142397.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.654465 m,
      nav range: 74.470528 m,
      bearing: 333.863829 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.038463 deg/s,
      cmd heading: 326.898755 deg,
      new cmd heading: 326.844841 deg.

2025-06-05T16:53:17.310Z,1749142397.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704519 target range: 77.654465 and range: 78.30 m.
2025-06-05T16:53:17.612Z,1749142397.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.65 m.
2025-06-05T16:53:17.617Z,1749142397.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.654465 m,
      nav range: 74.238251 m,
      bearing: 333.856313 deg,
      approach rate: -0.713973 m/s,
      LOS rate: -0.023176 deg/s,
      cmd heading: 326.844851 deg,
      new cmd heading: 326.822232 deg.

2025-06-05T16:53:17.618Z,1749142397.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704124 target range: 77.654465 and range: 78.30 m.
2025-06-05T16:53:18.056Z,1749142398.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.65 m.
2025-06-05T16:53:18.063Z,1749142398.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.654465 m,
      nav range: 73.961731 m,
      bearing: 333.847504 deg,
      approach rate: -0.622309 m/s,
      LOS rate: -0.019899 deg/s,
      cmd heading: 326.822230 deg,
      new cmd heading: 326.795704 deg.

2025-06-05T16:53:18.064Z,1749142398.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703661 target range: 77.654465 and range: 78.30 m.
2025-06-05T16:53:18.460Z,1749142398.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.65 m.
2025-06-05T16:53:18.464Z,1749142398.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.654465 m,
      nav range: 73.677490 m,
      bearing: 333.840663 deg,
      approach rate: -0.702823 m/s,
      LOS rate: -0.016980 deg/s,
      cmd heading: 326.795701 deg,
      new cmd heading: 326.775100 deg.

2025-06-05T16:53:18.465Z,1749142398.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703301 target range: 77.654465 and range: 78.30 m.
2025-06-05T16:53:18.837Z,1749142398.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:18.840Z,1749142398.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.65 m.
2025-06-05T16:53:18.843Z,1749142398.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.654465 m,
      nav range: 73.432304 m,
      bearing: 333.834646 deg,
      approach rate: -0.646236 m/s,
      LOS rate: -0.015912 deg/s,
      cmd heading: 326.775101 deg,
      new cmd heading: 326.756990 deg.

2025-06-05T16:53:18.844Z,1749142398.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702985 target range: 77.654465 and range: 78.30 m.
2025-06-05T16:53:18.859Z,1749142398.859 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:18.859Z,1749142398.859 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:18.859Z,1749142398.859 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:19.118Z,1749142399.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210267
2025-06-05T16:53:19.266Z,1749142399.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.65 m.
2025-06-05T16:53:19.269Z,1749142399.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.654465 m,
      nav range: 73.151360 m,
      bearing: 333.826409 deg,
      approach rate: -0.659441 m/s,
      LOS rate: -0.019409 deg/s,
      cmd heading: 326.756988 deg,
      new cmd heading: 326.732181 deg.

2025-06-05T16:53:19.270Z,1749142399.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702552 target range: 77.654465 and range: 78.30 m.
2025-06-05T16:53:19.365Z,1749142399.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458234
2025-06-05T16:53:19.619Z,1749142399.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711227
2025-06-05T16:53:19.673Z,1749142399.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.65 m.
2025-06-05T16:53:19.684Z,1749142399.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.654465 m,
      nav range: 72.902794 m,
      bearing: 333.819787 deg,
      approach rate: -0.610853 m/s,
      LOS rate: -0.016327 deg/s,
      cmd heading: 326.732180 deg,
      new cmd heading: 326.712249 deg.

2025-06-05T16:53:19.685Z,1749142399.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702204 target range: 77.654465 and range: 78.30 m.
2025-06-05T16:53:19.867Z,1749142399.867 [DAT](INFO): DAT read: Rx Time:16:53:18.4614

2025-06-05T16:53:19.868Z,1749142399.868 [DAT](INFO): Rx dataTimestamp_ set to:1749142399.867348
2025-06-05T16:53:19.868Z,1749142399.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961577
2025-06-05T16:53:20.049Z,1749142400.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.65 m.
2025-06-05T16:53:20.070Z,1749142400.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.654465 m,
      nav range: 72.640518 m,
      bearing: 333.813179 deg,
      approach rate: -0.697727 m/s,
      LOS rate: -0.017643 deg/s,
      cmd heading: 326.712236 deg,
      new cmd heading: 326.692340 deg.

2025-06-05T16:53:20.083Z,1749142400.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701857 target range: 77.654465 and range: 78.30 m.
2025-06-05T16:53:20.122Z,1749142400.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214696
2025-06-05T16:53:20.377Z,1749142400.377 [DAT](INFO): DAT read: 16:53:18.4614 LVL= 28320, 28657, 20786, 32755, AGC= 68, IDX= 408,-0.00,-3.134, 1.808, 2.938, 2.457, PHS= 0.780,-0.601, 0.478, RAW= 138.0, -10.5, CAL= 144.2, -20.8, ROT=   5.8,  20.8

2025-06-05T16:53:20.378Z,1749142400.378 [DAT](INFO): got valid direction response:
 16:53:18.4614 LVL= 28320, 28657, 20786, 32755, AGC= 68, IDX= 408,-0.00,-3.134, 1.808, 2.938, 2.457, PHS= 0.780,-0.601, 0.478, RAW= 138.0, -10.5, CAL= 144.2, -20.8, ROT=   5.8,  20.8

2025-06-05T16:53:20.379Z,1749142400.379 [DAT](INFO): DAT read: Bearing   5.8,  20.8 (Local)

2025-06-05T16:53:20.379Z,1749142400.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.8,  20.8 (Local)

2025-06-05T16:53:20.382Z,1749142400.382 [DAT](INFO): DAT read: Range 10 to 50 : 75.8 m  (Round-trip  101.1 ms) speed  0.6 m/s

2025-06-05T16:53:20.383Z,1749142400.383 [DAT](INFO): DAT read: user:2461>

2025-06-05T16:53:20.383Z,1749142400.383 [DAT](INFO): DAT read: Tx time:16:53:19.5561

2025-06-05T16:53:20.383Z,1749142400.383 [DAT](INFO): Ping request sent.
2025-06-05T16:53:20.384Z,1749142400.384 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:20.384Z,1749142400.384 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:53:20.385Z,1749142400.385 [DAT](INFO): direction in FSK: [0.930040,0.094470,-0.355107]
2025-06-05T16:53:20.385Z,1749142400.385 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:20.385Z,1749142400.385 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:20.388Z,1749142400.388 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:20.389Z,1749142400.389 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:20.623Z,1749142400.623 [DAT](INFO): DAT read: TxSync time:16:53:19.5553

2025-06-05T16:53:20.649Z,1749142400.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.800003 m,
      deltaT: 3.529816 s,
      deltaX: -2.500000 m,
      approachRate: -0.708252 m/s,
      rangeRepo size: 4

2025-06-05T16:53:20.655Z,1749142400.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.173889 m,
      bearing: 334.830512 deg,
      lat: 36.906264 deg,
      lon: -122.115885 deg,
      deltaT: 3.529816 s,
      deltaX: -2.480576 m,
      approachRate: -0.702749 m/s,
      posRepo size: 4

2025-06-05T16:53:20.656Z,1749142400.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.17 m.
2025-06-05T16:53:20.663Z,1749142400.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.173889 m,
      nav range: 72.074501 m,
      bearing: 334.135807 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017643 deg/s,
      cmd heading: 326.692347 deg,
      new cmd heading: 326.660925 deg.

2025-06-05T16:53:20.665Z,1749142400.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701309 target range: 75.173889 and range: 75.80 m.
2025-06-05T16:53:20.976Z,1749142400.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:20.979Z,1749142400.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.17 m.
2025-06-05T16:53:20.983Z,1749142400.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.173889 m,
      nav range: 71.843544 m,
      bearing: 334.135698 deg,
      approach rate: -0.686292 m/s,
      LOS rate: -0.000324 deg/s,
      cmd heading: 326.660928 deg,
      new cmd heading: 326.660601 deg.

2025-06-05T16:53:20.987Z,1749142400.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701303 target range: 75.173889 and range: 75.80 m.
2025-06-05T16:53:21.128Z,1749142401.128 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:21.128Z,1749142401.128 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:21.129Z,1749142401.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:21.382Z,1749142401.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997440
2025-06-05T16:53:21.482Z,1749142401.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.17 m.
2025-06-05T16:53:21.485Z,1749142401.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.173889 m,
      nav range: 71.517914 m,
      bearing: 334.132348 deg,
      approach rate: -0.647357 m/s,
      LOS rate: -0.006690 deg/s,
      cmd heading: 326.660600 deg,
      new cmd heading: 326.650504 deg.

2025-06-05T16:53:21.486Z,1749142401.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701127 target range: 75.173889 and range: 75.80 m.
2025-06-05T16:53:21.632Z,1749142401.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247951
2025-06-05T16:53:21.884Z,1749142401.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500653
2025-06-05T16:53:21.963Z,1749142401.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.17 m.
2025-06-05T16:53:21.965Z,1749142401.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.173889 m,
      nav range: 71.209251 m,
      bearing: 334.129145 deg,
      approach rate: -0.642291 m/s,
      LOS rate: -0.006696 deg/s,
      cmd heading: 326.650491 deg,
      new cmd heading: 326.640838 deg.

2025-06-05T16:53:21.967Z,1749142401.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700958 target range: 75.173889 and range: 75.80 m.
2025-06-05T16:53:22.138Z,1749142402.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753499
2025-06-05T16:53:22.387Z,1749142402.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003840
2025-06-05T16:53:22.396Z,1749142402.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.17 m.
2025-06-05T16:53:22.400Z,1749142402.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.173889 m,
      nav range: 70.934868 m,
      bearing: 334.128532 deg,
      approach rate: -0.633373 m/s,
      LOS rate: -0.001419 deg/s,
      cmd heading: 326.640847 deg,
      new cmd heading: 326.639002 deg.

2025-06-05T16:53:22.401Z,1749142402.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700926 target range: 75.173889 and range: 75.80 m.
2025-06-05T16:53:22.640Z,1749142402.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256012
2025-06-05T16:53:22.804Z,1749142402.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.17 m.
2025-06-05T16:53:22.807Z,1749142402.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.173889 m,
      nav range: 70.688690 m,
      bearing: 334.127979 deg,
      approach rate: -0.629823 m/s,
      LOS rate: -0.001421 deg/s,
      cmd heading: 326.638989 deg,
      new cmd heading: 326.637323 deg.

2025-06-05T16:53:22.808Z,1749142402.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700897 target range: 75.173889 and range: 75.80 m.
2025-06-05T16:53:22.893Z,1749142402.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508892
2025-06-05T16:53:23.145Z,1749142403.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761052
2025-06-05T16:53:23.249Z,1749142403.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:23.255Z,1749142403.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.17 m.
2025-06-05T16:53:23.262Z,1749142403.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.173889 m,
      nav range: 70.395645 m,
      bearing: 334.126947 deg,
      approach rate: -0.624830 m/s,
      LOS rate: -0.002209 deg/s,
      cmd heading: 326.637323 deg,
      new cmd heading: 326.634215 deg.

2025-06-05T16:53:23.265Z,1749142403.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700842 target range: 75.173889 and range: 75.80 m.
2025-06-05T16:53:23.395Z,1749142403.395 [DAT](INFO): DAT read: Rx Time:16:53:22.0583

2025-06-05T16:53:23.396Z,1749142403.396 [DAT](INFO): Rx dataTimestamp_ set to:1749142403.395363
2025-06-05T16:53:23.397Z,1749142403.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012570
2025-06-05T16:53:23.612Z,1749142403.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.17 m.
2025-06-05T16:53:23.616Z,1749142403.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.173889 m,
      nav range: 70.158722 m,
      bearing: 334.120643 deg,
      approach rate: -0.664497 m/s,
      LOS rate: -0.017739 deg/s,
      cmd heading: 326.634208 deg,
      new cmd heading: 326.615234 deg.

2025-06-05T16:53:23.617Z,1749142403.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700511 target range: 75.173889 and range: 75.80 m.
2025-06-05T16:53:23.649Z,1749142403.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265156
2025-06-05T16:53:23.905Z,1749142403.905 [DAT](INFO): DAT read: 16:53:22.0583 LVL= 20464, 31537, 19442, 32755, AGC= 66, IDX= 408,-0.12,-1.520,-2.875,-1.736,-2.154, PHS= 0.722,-0.675, 0.415, RAW= 137.9,  -7.3, CAL= 143.9, -17.6, ROT=   6.1,  17.6

2025-06-05T16:53:23.906Z,1749142403.906 [DAT](INFO): got valid direction response:
 16:53:22.0583 LVL= 20464, 31537, 19442, 32755, AGC= 66, IDX= 408,-0.12,-1.520,-2.875,-1.736,-2.154, PHS= 0.722,-0.675, 0.415, RAW= 137.9,  -7.3, CAL= 143.9, -17.6, ROT=   6.1,  17.6

2025-06-05T16:53:23.907Z,1749142403.907 [DAT](INFO): DAT read: Bearing   6.1,  17.6 (Local)

2025-06-05T16:53:23.907Z,1749142403.907 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.1,  17.6 (Local)

2025-06-05T16:53:23.908Z,1749142403.908 [DAT](INFO): DAT read: Range 10 to 50 : 73.5 m  (Round-trip  98.0 ms) speed  0.7 m/s

2025-06-05T16:53:23.909Z,1749142403.909 [DAT](INFO): DAT read: user:2462>

2025-06-05T16:53:23.910Z,1749142403.910 [DAT](INFO): DAT read: Tx time:16:53:23.1562

2025-06-05T16:53:23.910Z,1749142403.910 [DAT](INFO): Ping request sent.
2025-06-05T16:53:23.910Z,1749142403.910 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:23.911Z,1749142403.911 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:53:23.912Z,1749142403.912 [DAT](INFO): direction in FSK: [0.947794,0.101290,-0.302370]
2025-06-05T16:53:23.912Z,1749142403.912 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:23.912Z,1749142403.912 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:23.917Z,1749142403.917 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:23.917Z,1749142403.917 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:24.087Z,1749142404.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.500000 m,
      deltaT: 3.527928 s,
      deltaX: -2.300003 m,
      approachRate: -0.651942 m/s,
      rangeRepo size: 4

2025-06-05T16:53:24.089Z,1749142404.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.892929 m,
      bearing: 334.405100 deg,
      lat: 36.906264 deg,
      lon: -122.115883 deg,
      deltaT: 3.527928 s,
      deltaX: -2.280960 m,
      approachRate: -0.646544 m/s,
      posRepo size: 4

2025-06-05T16:53:24.094Z,1749142404.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.89 m.
2025-06-05T16:53:24.098Z,1749142404.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.892929 m,
      nav range: 69.794907 m,
      bearing: 334.271413 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017739 deg/s,
      cmd heading: 326.615220 deg,
      new cmd heading: 326.590223 deg.

2025-06-05T16:53:24.103Z,1749142404.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700075 target range: 72.892929 and range: 73.50 m.
2025-06-05T16:53:24.152Z,1749142404.152 [DAT](INFO): DAT read: TxSync time:16:53:23.1554

2025-06-05T16:53:24.483Z,1749142404.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.89 m.
2025-06-05T16:53:24.485Z,1749142404.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.892929 m,
      nav range: 69.531960 m,
      bearing: 334.263755 deg,
      approach rate: -0.663028 m/s,
      LOS rate: -0.019382 deg/s,
      cmd heading: 326.590222 deg,
      new cmd heading: 326.567162 deg.

2025-06-05T16:53:24.491Z,1749142404.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699672 target range: 72.892929 and range: 73.50 m.
2025-06-05T16:53:24.893Z,1749142404.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.89 m.
2025-06-05T16:53:24.896Z,1749142404.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.892929 m,
      nav range: 69.263908 m,
      bearing: 334.255870 deg,
      approach rate: -0.645947 m/s,
      LOS rate: -0.019076 deg/s,
      cmd heading: 326.567163 deg,
      new cmd heading: 326.543415 deg.

2025-06-05T16:53:24.899Z,1749142404.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699258 target range: 72.892929 and range: 73.50 m.
2025-06-05T16:53:25.350Z,1749142405.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:25.356Z,1749142405.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.89 m.
2025-06-05T16:53:25.363Z,1749142405.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.892929 m,
      nav range: 68.972694 m,
      bearing: 334.244620 deg,
      approach rate: -0.629391 m/s,
      LOS rate: -0.024416 deg/s,
      cmd heading: 326.543421 deg,
      new cmd heading: 326.509530 deg.

2025-06-05T16:53:25.365Z,1749142405.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698666 target range: 72.892929 and range: 73.50 m.
2025-06-05T16:53:25.412Z,1749142405.412 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:25.412Z,1749142405.412 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:25.412Z,1749142405.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:25.664Z,1749142405.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753835
2025-06-05T16:53:25.676Z,1749142405.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.89 m.
2025-06-05T16:53:25.679Z,1749142405.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.892929 m,
      nav range: 68.755295 m,
      bearing: 334.236093 deg,
      approach rate: -0.679554 m/s,
      LOS rate: -0.026739 deg/s,
      cmd heading: 326.509516 deg,
      new cmd heading: 326.483853 deg.

2025-06-05T16:53:25.681Z,1749142405.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698218 target range: 72.892929 and range: 73.50 m.
2025-06-05T16:53:25.916Z,1749142405.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005569
2025-06-05T16:53:26.095Z,1749142406.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.89 m.
2025-06-05T16:53:26.098Z,1749142406.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.892929 m,
      nav range: 68.496696 m,
      bearing: 334.225940 deg,
      approach rate: -0.617033 m/s,
      LOS rate: -0.024316 deg/s,
      cmd heading: 326.483862 deg,
      new cmd heading: 326.453289 deg.

2025-06-05T16:53:26.100Z,1749142406.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697685 target range: 72.892929 and range: 73.50 m.
2025-06-05T16:53:26.176Z,1749142406.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265497
2025-06-05T16:53:26.427Z,1749142406.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516879
2025-06-05T16:53:26.493Z,1749142406.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.89 m.
2025-06-05T16:53:26.497Z,1749142406.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.892929 m,
      nav range: 68.222809 m,
      bearing: 334.210295 deg,
      approach rate: -0.687586 m/s,
      LOS rate: -0.039434 deg/s,
      cmd heading: 326.453290 deg,
      new cmd heading: 326.406166 deg.

2025-06-05T16:53:26.519Z,1749142406.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696862 target range: 72.892929 and range: 73.50 m.
2025-06-05T16:53:26.679Z,1749142406.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768735
2025-06-05T16:53:26.857Z,1749142406.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.89 m.
2025-06-05T16:53:26.860Z,1749142406.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.892929 m,
      nav range: 67.984222 m,
      bearing: 334.196790 deg,
      approach rate: -0.655403 m/s,
      LOS rate: -0.037229 deg/s,
      cmd heading: 326.406162 deg,
      new cmd heading: 326.365504 deg.

2025-06-05T16:53:26.861Z,1749142406.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696153 target range: 72.892929 and range: 73.50 m.
2025-06-05T16:53:26.933Z,1749142406.933 [DAT](INFO): DAT read: Rx Time:16:53:25.6553

2025-06-05T16:53:26.933Z,1749142406.933 [DAT](INFO): Rx dataTimestamp_ set to:1749142406.933042
2025-06-05T16:53:26.935Z,1749142406.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024095
2025-06-05T16:53:27.185Z,1749142407.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274146
2025-06-05T16:53:27.386Z,1749142407.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:27.388Z,1749142407.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.89 m.
2025-06-05T16:53:27.407Z,1749142407.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.892929 m,
      nav range: 67.646873 m,
      bearing: 334.174643 deg,
      approach rate: -0.635643 m/s,
      LOS rate: -0.041939 deg/s,
      cmd heading: 326.365508 deg,
      new cmd heading: 326.298735 deg.

2025-06-05T16:53:27.408Z,1749142407.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694987 target range: 72.892929 and range: 73.50 m.
2025-06-05T16:53:27.438Z,1749142407.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527123
2025-06-05T16:53:27.693Z,1749142407.693 [DAT](INFO): DAT read: 16:53:25.6553 LVL= 21440, 32753, 20210, 32755, AGC= 68, IDX= 409,-0.37,-1.939, 3.038,-2.155,-2.545, PHS= 0.693,-0.654, 0.386, RAW= 137.4,  -7.0, CAL= 143.4, -17.4, ROT=   6.6,  17.4

2025-06-05T16:53:27.695Z,1749142407.695 [DAT](INFO): got valid direction response:
 16:53:25.6553 LVL= 21440, 32753, 20210, 32755, AGC= 68, IDX= 409,-0.37,-1.939, 3.038,-2.155,-2.545, PHS= 0.693,-0.654, 0.386, RAW= 137.4,  -7.0, CAL= 143.4, -17.4, ROT=   6.6,  17.4

2025-06-05T16:53:27.696Z,1749142407.696 [DAT](INFO): DAT read: Bearing   6.6,  17.4 (Local)

2025-06-05T16:53:27.697Z,1749142407.697 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.6,  17.4 (Local)

2025-06-05T16:53:27.701Z,1749142407.701 [DAT](INFO): DAT read: Range 10 to 50 : 71.2 m  (Round-trip  95.0 ms) speed  0.7 m/s

2025-06-05T16:53:27.701Z,1749142407.701 [DAT](INFO): DAT read: user:2463>

2025-06-05T16:53:27.703Z,1749142407.703 [DAT](INFO): DAT read: Tx time:16:53:26.7562

2025-06-05T16:53:27.703Z,1749142407.703 [DAT](INFO): Ping request sent.
2025-06-05T16:53:27.703Z,1749142407.703 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:27.704Z,1749142407.704 [DAT](INFO): DAT read: TxSync time:16:53:26.7554

2025-06-05T16:53:27.704Z,1749142407.704 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:53:27.705Z,1749142407.705 [DAT](INFO): direction in FSK: [0.947916,0.109678,-0.299041]
2025-06-05T16:53:27.705Z,1749142407.705 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:27.706Z,1749142407.706 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:27.709Z,1749142407.709 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:27.709Z,1749142407.709 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:27.883Z,1749142407.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.199997 m,
      deltaT: 3.788150 s,
      deltaX: -2.300003 m,
      approachRate: -0.607157 m/s,
      rangeRepo size: 4

2025-06-05T16:53:27.885Z,1749142407.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.612350 m,
      bearing: 334.600776 deg,
      lat: 36.906264 deg,
      lon: -122.115881 deg,
      deltaT: 3.788150 s,
      deltaX: -2.280579 m,
      approachRate: -0.602030 m/s,
      posRepo size: 4

2025-06-05T16:53:27.885Z,1749142407.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-06-05T16:53:27.892Z,1749142407.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612350 m,
      nav range: 67.238785 m,
      bearing: 334.322636 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.041939 deg/s,
      cmd heading: 326.298737 deg,
      new cmd heading: 326.237630 deg.

2025-06-05T16:53:27.893Z,1749142407.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693921 target range: 70.612350 and range: 71.20 m.
2025-06-05T16:53:28.035Z,1749142408.035 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:53:28.324Z,1749142408.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-06-05T16:53:28.333Z,1749142408.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612350 m,
      nav range: 66.943054 m,
      bearing: 334.304348 deg,
      approach rate: -0.656708 m/s,
      LOS rate: -0.040791 deg/s,
      cmd heading: 326.237620 deg,
      new cmd heading: 326.182513 deg.

2025-06-05T16:53:28.335Z,1749142408.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692959 target range: 70.612350 and range: 71.20 m.
2025-06-05T16:53:28.654Z,1749142408.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-06-05T16:53:28.656Z,1749142408.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612350 m,
      nav range: 66.709015 m,
      bearing: 334.288863 deg,
      approach rate: -0.710232 m/s,
      LOS rate: -0.047155 deg/s,
      cmd heading: 326.182514 deg,
      new cmd heading: 326.135898 deg.

2025-06-05T16:53:28.657Z,1749142408.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692145 target range: 70.612350 and range: 71.20 m.
2025-06-05T16:53:29.038Z,1749142409.038 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:53:29.044Z,1749142409.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-06-05T16:53:29.051Z,1749142409.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612350 m,
      nav range: 66.462029 m,
      bearing: 334.272613 deg,
      approach rate: -0.635879 m/s,
      LOS rate: -0.041992 deg/s,
      cmd heading: 326.135905 deg,
      new cmd heading: 326.086973 deg.

2025-06-05T16:53:29.052Z,1749142409.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691291 target range: 70.612350 and range: 71.20 m.
2025-06-05T16:53:29.477Z,1749142409.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:29.480Z,1749142409.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-06-05T16:53:29.489Z,1749142409.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612350 m,
      nav range: 66.160606 m,
      bearing: 334.255055 deg,
      approach rate: -0.688955 m/s,
      LOS rate: -0.040314 deg/s,
      cmd heading: 326.086973 deg,
      new cmd heading: 326.034060 deg.

2025-06-05T16:53:29.490Z,1749142409.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690368 target range: 70.612350 and range: 71.20 m.
2025-06-05T16:53:29.703Z,1749142409.703 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:29.703Z,1749142409.703 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:29.703Z,1749142409.703 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:29.837Z,1749142409.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-06-05T16:53:29.839Z,1749142409.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612350 m,
      nav range: 65.923370 m,
      bearing: 334.241099 deg,
      approach rate: -0.664363 m/s,
      LOS rate: -0.039224 deg/s,
      cmd heading: 326.034053 deg,
      new cmd heading: 325.992034 deg.

2025-06-05T16:53:29.840Z,1749142409.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689634 target range: 70.612350 and range: 71.20 m.
2025-06-05T16:53:29.955Z,1749142409.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252209
2025-06-05T16:53:30.058Z,1749142410.058 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:53:30.207Z,1749142410.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504266
2025-06-05T16:53:30.324Z,1749142410.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-06-05T16:53:30.331Z,1749142410.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612350 m,
      nav range: 65.652878 m,
      bearing: 334.225289 deg,
      approach rate: -0.555457 m/s,
      LOS rate: -0.032600 deg/s,
      cmd heading: 325.992034 deg,
      new cmd heading: 325.944407 deg.

2025-06-05T16:53:30.333Z,1749142410.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688803 target range: 70.612350 and range: 71.20 m.
2025-06-05T16:53:30.459Z,1749142410.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756409
2025-06-05T16:53:30.704Z,1749142410.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-06-05T16:53:30.712Z,1749142410.712 [DAT](INFO): DAT read: Rx Time:16:53:29.2522

2025-06-05T16:53:30.712Z,1749142410.712 [DAT](INFO): Rx dataTimestamp_ set to:1749142410.711785
2025-06-05T16:53:30.713Z,1749142410.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009670
2025-06-05T16:53:30.723Z,1749142410.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612350 m,
      nav range: 65.363968 m,
      bearing: 334.210705 deg,
      approach rate: -0.759737 m/s,
      LOS rate: -0.038521 deg/s,
      cmd heading: 325.944414 deg,
      new cmd heading: 325.900468 deg.

2025-06-05T16:53:30.724Z,1749142410.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688036 target range: 70.612350 and range: 71.20 m.
2025-06-05T16:53:30.964Z,1749142410.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260511
2025-06-05T16:53:31.099Z,1749142411.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.61 m.
2025-06-05T16:53:31.102Z,1749142411.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.612350 m,
      nav range: 65.089088 m,
      bearing: 334.197080 deg,
      approach rate: -0.694721 m/s,
      LOS rate: -0.034580 deg/s,
      cmd heading: 325.900455 deg,
      new cmd heading: 325.859408 deg.

2025-06-05T16:53:31.103Z,1749142411.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687320 target range: 70.612350 and range: 71.20 m.
2025-06-05T16:53:31.221Z,1749142411.221 [DAT](INFO): DAT read: 16:53:29.2522 LVL= 23504, 27777, 23362, 32755, AGC= 66, IDX= 408, 0.31,-0.590,-1.912,-0.800,-1.173, PHS= 0.671,-0.692, 0.370, RAW= 137.9,  -5.7, CAL= 143.6, -15.7, ROT=   6.4,  15.7

2025-06-05T16:53:31.223Z,1749142411.223 [DAT](INFO): got valid direction response:
 16:53:29.2522 LVL= 23504, 27777, 23362, 32755, AGC= 66, IDX= 408, 0.31,-0.590,-1.912,-0.800,-1.173, PHS= 0.671,-0.692, 0.370, RAW= 137.9,  -5.7, CAL= 143.6, -15.7, ROT=   6.4,  15.7

2025-06-05T16:53:31.224Z,1749142411.224 [DAT](INFO): DAT read: Bearing   6.4,  15.7 (Local)

2025-06-05T16:53:31.225Z,1749142411.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.4,  15.7 (Local)

2025-06-05T16:53:31.226Z,1749142411.226 [DAT](INFO): DAT read: Range 10 to 50 : 68.8 m  (Round-trip  91.8 ms) speed  0.8 m/s

2025-06-05T16:53:31.227Z,1749142411.227 [DAT](INFO): DAT read: user:2464>

2025-06-05T16:53:31.228Z,1749142411.228 [DAT](INFO): DAT read: Tx time:16:53:30.3562

2025-06-05T16:53:31.228Z,1749142411.228 [DAT](INFO): Ping request sent.
2025-06-05T16:53:31.228Z,1749142411.228 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:31.228Z,1749142411.228 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:53:31.229Z,1749142411.229 [DAT](INFO): direction in FSK: [0.956692,0.107310,-0.270600]
2025-06-05T16:53:31.230Z,1749142411.230 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:31.230Z,1749142411.230 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:31.233Z,1749142411.233 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:31.233Z,1749142411.233 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:31.467Z,1749142411.467 [DAT](INFO): DAT read: TxSync time:16:53:30.3554

2025-06-05T16:53:31.583Z,1749142411.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.800003 m,
      deltaT: 3.528596 s,
      deltaX: -2.399994 m,
      approachRate: -0.680155 m/s,
      rangeRepo size: 4

2025-06-05T16:53:31.585Z,1749142411.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.232521 m,
      bearing: 333.862775 deg,
      lat: 36.906267 deg,
      lon: -122.115881 deg,
      deltaT: 3.528596 s,
      deltaX: -2.379829 m,
      approachRate: -0.674441 m/s,
      posRepo size: 4

2025-06-05T16:53:31.586Z,1749142411.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.23 m.
2025-06-05T16:53:31.593Z,1749142411.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.232521 m,
      nav range: 65.123192 m,
      bearing: 334.330498 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034580 deg/s,
      cmd heading: 325.859419 deg,
      new cmd heading: 325.809788 deg.

2025-06-05T16:53:31.594Z,1749142411.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686453 target range: 68.232521 and range: 68.80 m.
2025-06-05T16:53:31.894Z,1749142411.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:31.897Z,1749142411.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.23 m.
2025-06-05T16:53:31.901Z,1749142411.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.232521 m,
      nav range: 64.900177 m,
      bearing: 334.323397 deg,
      approach rate: -0.700736 m/s,
      LOS rate: -0.022390 deg/s,
      cmd heading: 325.809777 deg,
      new cmd heading: 325.788400 deg.

2025-06-05T16:53:31.902Z,1749142411.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686080 target range: 68.232521 and range: 68.80 m.
2025-06-05T16:53:31.972Z,1749142411.972 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:31.972Z,1749142411.972 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:31.973Z,1749142411.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:32.224Z,1749142412.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995713
2025-06-05T16:53:32.415Z,1749142412.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.23 m.
2025-06-05T16:53:32.418Z,1749142412.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.232521 m,
      nav range: 64.568413 m,
      bearing: 334.318659 deg,
      approach rate: -0.645737 m/s,
      LOS rate: -0.009269 deg/s,
      cmd heading: 325.788412 deg,
      new cmd heading: 325.774126 deg.

2025-06-05T16:53:32.423Z,1749142412.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685831 target range: 68.232521 and range: 68.80 m.
2025-06-05T16:53:32.475Z,1749142412.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247141
2025-06-05T16:53:32.727Z,1749142412.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499058
2025-06-05T16:53:32.750Z,1749142412.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.23 m.
2025-06-05T16:53:32.753Z,1749142412.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.232521 m,
      nav range: 64.332191 m,
      bearing: 334.315319 deg,
      approach rate: -0.695180 m/s,
      LOS rate: -0.009868 deg/s,
      cmd heading: 325.774123 deg,
      new cmd heading: 325.764064 deg.

2025-06-05T16:53:32.754Z,1749142412.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685656 target range: 68.232521 and range: 68.80 m.
2025-06-05T16:53:32.980Z,1749142412.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751522
2025-06-05T16:53:33.151Z,1749142413.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.23 m.
2025-06-05T16:53:33.154Z,1749142413.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.232521 m,
      nav range: 64.063377 m,
      bearing: 334.311333 deg,
      approach rate: -0.669383 m/s,
      LOS rate: -0.009965 deg/s,
      cmd heading: 325.764069 deg,
      new cmd heading: 325.752064 deg.

2025-06-05T16:53:33.155Z,1749142413.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685446 target range: 68.232521 and range: 68.80 m.
2025-06-05T16:53:33.232Z,1749142413.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004347
2025-06-05T16:53:33.483Z,1749142413.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255067
2025-06-05T16:53:33.610Z,1749142413.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.23 m.
2025-06-05T16:53:33.614Z,1749142413.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.232521 m,
      nav range: 63.754025 m,
      bearing: 334.315811 deg,
      approach rate: -0.674209 m/s,
      LOS rate: 0.009807 deg/s,
      cmd heading: 325.752075 deg,
      new cmd heading: 325.765575 deg.

2025-06-05T16:53:33.615Z,1749142413.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685682 target range: 68.232521 and range: 68.80 m.
2025-06-05T16:53:33.735Z,1749142413.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507101
2025-06-05T16:53:33.956Z,1749142413.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:33.959Z,1749142413.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.23 m.
2025-06-05T16:53:33.961Z,1749142413.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.232521 m,
      nav range: 63.519905 m,
      bearing: 334.319787 deg,
      approach rate: -0.672486 m/s,
      LOS rate: 0.011461 deg/s,
      cmd heading: 325.765572 deg,
      new cmd heading: 325.777542 deg.

2025-06-05T16:53:33.963Z,1749142413.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685891 target range: 68.232521 and range: 68.80 m.
2025-06-05T16:53:33.987Z,1749142413.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759079
2025-06-05T16:53:34.239Z,1749142414.239 [DAT](INFO): DAT read: Rx Time:16:53:32.8489

2025-06-05T16:53:34.240Z,1749142414.240 [DAT](INFO): Rx dataTimestamp_ set to:1749142414.239548
2025-06-05T16:53:34.240Z,1749142414.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012317
2025-06-05T16:53:34.440Z,1749142414.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.23 m.
2025-06-05T16:53:34.443Z,1749142414.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.232521 m,
      nav range: 63.208069 m,
      bearing: 334.323834 deg,
      approach rate: -0.646872 m/s,
      LOS rate: 0.008437 deg/s,
      cmd heading: 325.777538 deg,
      new cmd heading: 325.789740 deg.

2025-06-05T16:53:34.444Z,1749142414.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686104 target range: 68.232521 and range: 68.80 m.
2025-06-05T16:53:34.491Z,1749142414.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263149
2025-06-05T16:53:34.750Z,1749142414.750 [DAT](INFO): DAT read: 16:53:32.8490 LVL= 20400, 24433, 18482, 28403, AGC= 66, IDX= 407, 0.06,-0.495,-1.873,-0.740,-1.111, PHS= 0.705,-0.715, 0.369, RAW= 136.9,  -5.6, CAL= 142.6, -15.8, ROT=   7.4,  15.8

2025-06-05T16:53:34.752Z,1749142414.752 [DAT](INFO): got valid direction response:
 16:53:32.8490 LVL= 20400, 24433, 18482, 28403, AGC= 66, IDX= 407, 0.06,-0.495,-1.873,-0.740,-1.111, PHS= 0.705,-0.715, 0.369, RAW= 136.9,  -5.6, CAL= 142.6, -15.8, ROT=   7.4,  15.8

2025-06-05T16:53:34.752Z,1749142414.752 [DAT](INFO): DAT read: Bearing   7.4,  15.8 (Local)

2025-06-05T16:53:34.753Z,1749142414.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.4,  15.8 (Local)

2025-06-05T16:53:34.754Z,1749142414.754 [DAT](INFO): DAT read: Range 10 to 50 : 66.3 m  (Round-trip  88.5 ms) speed  0.6 m/s

2025-06-05T16:53:34.755Z,1749142414.755 [DAT](INFO): DAT read: user:2465>

2025-06-05T16:53:34.756Z,1749142414.756 [DAT](INFO): DAT read: Tx time:16:53:33.9563

2025-06-05T16:53:34.756Z,1749142414.756 [DAT](INFO): Ping request sent.
2025-06-05T16:53:34.756Z,1749142414.756 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:34.756Z,1749142414.756 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:53:34.757Z,1749142414.757 [DAT](INFO): direction in FSK: [0.954204,0.123929,-0.272280]
2025-06-05T16:53:34.758Z,1749142414.758 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:34.790Z,1749142414.790 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:34.793Z,1749142414.793 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:34.793Z,1749142414.793 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:34.826Z,1749142414.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.300003 m,
      deltaT: 3.527399 s,
      deltaX: -2.500000 m,
      approachRate: -0.708737 m/s,
      rangeRepo size: 4

2025-06-05T16:53:34.836Z,1749142414.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.753075 m,
      bearing: 334.515403 deg,
      lat: 36.906269 deg,
      lon: -122.115880 deg,
      deltaT: 3.527399 s,
      deltaX: -2.479446 m,
      approachRate: -0.702911 m/s,
      posRepo size: 4

2025-06-05T16:53:34.837Z,1749142414.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:34.844Z,1749142414.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 63.193661 m,
      bearing: 334.440761 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008437 deg/s,
      cmd heading: 325.789751 deg,
      new cmd heading: 325.799485 deg.

2025-06-05T16:53:34.845Z,1749142414.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686274 target range: 65.753075 and range: 66.30 m.
2025-06-05T16:53:34.995Z,1749142414.995 [DAT](INFO): DAT read: TxSync time:16:53:33.9555

2025-06-05T16:53:35.209Z,1749142415.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:35.223Z,1749142415.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 62.942120 m,
      bearing: 334.445087 deg,
      approach rate: -0.654436 m/s,
      LOS rate: 0.011301 deg/s,
      cmd heading: 325.799477 deg,
      new cmd heading: 325.812508 deg.

2025-06-05T16:53:35.224Z,1749142415.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686501 target range: 65.753075 and range: 66.30 m.
2025-06-05T16:53:35.620Z,1749142415.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:35.623Z,1749142415.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 62.665379 m,
      bearing: 334.449334 deg,
      approach rate: -0.673303 m/s,
      LOS rate: 0.010377 deg/s,
      cmd heading: 325.812509 deg,
      new cmd heading: 325.825305 deg.

2025-06-05T16:53:35.624Z,1749142415.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686724 target range: 65.753075 and range: 66.30 m.
2025-06-05T16:53:36.010Z,1749142416.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:36.012Z,1749142416.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:36.016Z,1749142416.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 62.424686 m,
      bearing: 334.453058 deg,
      approach rate: -0.614501 m/s,
      LOS rate: 0.009544 deg/s,
      cmd heading: 325.825295 deg,
      new cmd heading: 325.836510 deg.

2025-06-05T16:53:36.017Z,1749142416.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686920 target range: 65.753075 and range: 66.30 m.
2025-06-05T16:53:36.255Z,1749142416.255 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:36.255Z,1749142416.255 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:36.255Z,1749142416.255 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:36.457Z,1749142416.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:36.460Z,1749142416.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 62.125435 m,
      bearing: 334.453951 deg,
      approach rate: -0.672291 m/s,
      LOS rate: 0.002016 deg/s,
      cmd heading: 325.836524 deg,
      new cmd heading: 325.839215 deg.

2025-06-05T16:53:36.461Z,1749142416.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686967 target range: 65.753075 and range: 66.30 m.
2025-06-05T16:53:36.507Z,1749142416.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751066
2025-06-05T16:53:36.759Z,1749142416.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003176
2025-06-05T16:53:36.818Z,1749142416.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:36.821Z,1749142416.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 61.893471 m,
      bearing: 334.454299 deg,
      approach rate: -0.643396 m/s,
      LOS rate: 0.000969 deg/s,
      cmd heading: 325.839229 deg,
      new cmd heading: 325.840277 deg.

2025-06-05T16:53:36.822Z,1749142416.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686985 target range: 65.753075 and range: 66.30 m.
2025-06-05T16:53:37.011Z,1749142417.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254890
2025-06-05T16:53:37.204Z,1749142417.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:37.207Z,1749142417.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 61.642860 m,
      bearing: 334.454407 deg,
      approach rate: -0.648358 m/s,
      LOS rate: 0.000281 deg/s,
      cmd heading: 325.840267 deg,
      new cmd heading: 325.840593 deg.

2025-06-05T16:53:37.208Z,1749142417.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686991 target range: 65.753075 and range: 66.30 m.
2025-06-05T16:53:37.264Z,1749142417.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507630
2025-06-05T16:53:37.516Z,1749142417.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759271
2025-06-05T16:53:37.627Z,1749142417.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:37.629Z,1749142417.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 61.372417 m,
      bearing: 334.450071 deg,
      approach rate: -0.640704 m/s,
      LOS rate: -0.010319 deg/s,
      cmd heading: 325.840595 deg,
      new cmd heading: 325.827528 deg.

2025-06-05T16:53:37.632Z,1749142417.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686763 target range: 65.753075 and range: 66.30 m.
2025-06-05T16:53:37.767Z,1749142417.767 [DAT](INFO): DAT read: Rx Time:16:53:36.4458

2025-06-05T16:53:37.768Z,1749142417.768 [DAT](INFO): Rx dataTimestamp_ set to:1749142417.767411
2025-06-05T16:53:37.768Z,1749142417.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012107
2025-06-05T16:53:38.019Z,1749142418.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262934
2025-06-05T16:53:38.071Z,1749142418.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:38.073Z,1749142418.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:38.077Z,1749142418.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 61.086658 m,
      bearing: 334.445166 deg,
      approach rate: -0.639212 m/s,
      LOS rate: -0.011023 deg/s,
      cmd heading: 325.827535 deg,
      new cmd heading: 325.812752 deg.

2025-06-05T16:53:38.078Z,1749142418.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686505 target range: 65.753075 and range: 66.30 m.
2025-06-05T16:53:38.273Z,1749142418.273 [DAT](INFO): DAT read: Range 10 to 50 : 64.0 m  (Round-trip  85.4 ms) speed  0.5 m/s

2025-06-05T16:53:38.274Z,1749142418.274 [DAT](INFO): DAT read: user:2466>

2025-06-05T16:53:38.276Z,1749142418.276 [DAT](INFO): DAT read: Tx time:16:53:37.5563

2025-06-05T16:53:38.276Z,1749142418.276 [DAT](INFO): Ping request sent.
2025-06-05T16:53:38.276Z,1749142418.276 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:38.277Z,1749142418.277 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:53:38.277Z,1749142418.277 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:38.277Z,1749142418.277 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:38.523Z,1749142418.523 [DAT](INFO): DAT read: TxSync time:16:53:37.5555

2025-06-05T16:53:38.585Z,1749142418.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.000000 m,
      deltaT: 3.527984 s,
      deltaX: -2.300003 m,
      approachRate: -0.651931 m/s,
      rangeRepo size: 4

2025-06-05T16:53:38.590Z,1749142418.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:38.593Z,1749142418.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 60.774551 m,
      bearing: 334.432443 deg,
      approach rate: -0.610204 m/s,
      LOS rate: -0.025003 deg/s,
      cmd heading: 325.812755 deg,
      new cmd heading: 325.774389 deg.

2025-06-05T16:53:38.602Z,1749142418.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685836 target range: 65.753075 and range: 64.00 m.
2025-06-05T16:53:38.944Z,1749142418.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:38.951Z,1749142418.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 60.528801 m,
      bearing: 334.422059 deg,
      approach rate: -0.684709 m/s,
      LOS rate: -0.029048 deg/s,
      cmd heading: 325.774397 deg,
      new cmd heading: 325.743119 deg.

2025-06-05T16:53:38.952Z,1749142418.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685290 target range: 65.753075 and range: 64.00 m.
2025-06-05T16:53:39.364Z,1749142419.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:39.371Z,1749142419.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 60.263908 m,
      bearing: 334.411353 deg,
      approach rate: -0.630569 m/s,
      LOS rate: -0.025597 deg/s,
      cmd heading: 325.743114 deg,
      new cmd heading: 325.710855 deg.

2025-06-05T16:53:39.372Z,1749142419.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684727 target range: 65.753075 and range: 64.00 m.
2025-06-05T16:53:39.828Z,1749142419.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:39.831Z,1749142419.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 59.948677 m,
      bearing: 334.393389 deg,
      approach rate: -0.679817 m/s,
      LOS rate: -0.038945 deg/s,
      cmd heading: 325.710848 deg,
      new cmd heading: 325.656672 deg.

2025-06-05T16:53:39.832Z,1749142419.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683781 target range: 65.753075 and range: 64.00 m.
2025-06-05T16:53:40.161Z,1749142420.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:40.167Z,1749142420.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:40.174Z,1749142420.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 59.735790 m,
      bearing: 334.381201 deg,
      approach rate: -0.626307 m/s,
      LOS rate: -0.035984 deg/s,
      cmd heading: 325.656671 deg,
      new cmd heading: 325.619978 deg.

2025-06-05T16:53:40.175Z,1749142420.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683141 target range: 65.753075 and range: 64.00 m.
2025-06-05T16:53:40.288Z,1749142420.288 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:40.289Z,1749142420.289 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:40.289Z,1749142420.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:40.541Z,1749142420.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264935
2025-06-05T16:53:40.609Z,1749142420.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:40.632Z,1749142420.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 59.445522 m,
      bearing: 334.364051 deg,
      approach rate: -0.657791 m/s,
      LOS rate: -0.039054 deg/s,
      cmd heading: 325.619980 deg,
      new cmd heading: 325.568279 deg.

2025-06-05T16:53:40.633Z,1749142420.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682239 target range: 65.753075 and range: 64.00 m.
2025-06-05T16:53:40.791Z,1749142420.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515072
2025-06-05T16:53:40.957Z,1749142420.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:40.976Z,1749142420.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 59.220959 m,
      bearing: 334.350338 deg,
      approach rate: -0.644679 m/s,
      LOS rate: -0.039517 deg/s,
      cmd heading: 325.568289 deg,
      new cmd heading: 325.526994 deg.

2025-06-05T16:53:40.977Z,1749142420.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681518 target range: 65.753075 and range: 64.00 m.
2025-06-05T16:53:41.043Z,1749142421.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767026
2025-06-05T16:53:41.295Z,1749142421.295 [DAT](INFO): DAT read: Rx Time:16:53:40.0429

2025-06-05T16:53:41.296Z,1749142421.296 [DAT](INFO): Rx dataTimestamp_ set to:1749142421.295289
2025-06-05T16:53:41.296Z,1749142421.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020059
2025-06-05T16:53:41.385Z,1749142421.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:41.389Z,1749142421.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 58.952549 m,
      bearing: 334.333811 deg,
      approach rate: -0.626799 m/s,
      LOS rate: -0.038771 deg/s,
      cmd heading: 325.527007 deg,
      new cmd heading: 325.477199 deg.

2025-06-05T16:53:41.395Z,1749142421.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680649 target range: 65.753075 and range: 64.00 m.
2025-06-05T16:53:41.549Z,1749142421.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272799
2025-06-05T16:53:41.799Z,1749142421.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523112
2025-06-05T16:53:41.855Z,1749142421.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.75 m.
2025-06-05T16:53:41.871Z,1749142421.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.753075 m,
      nav range: 58.667110 m,
      bearing: 334.322642 deg,
      approach rate: -0.615364 m/s,
      LOS rate: -0.024196 deg/s,
      cmd heading: 325.477201 deg,
      new cmd heading: 325.443531 deg.

2025-06-05T16:53:41.872Z,1749142421.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680061 target range: 65.753075 and range: 64.00 m.
2025-06-05T16:53:42.057Z,1749142422.057 [DAT](INFO): DAT read: 16:53:40.0429 LVL= 18096, 30817, 20514, 32755, AGC= 65, IDX= 409,-0.00, 2.286, 0.892, 2.096, 1.681, PHS= 0.693,-0.742, 0.412, RAW= 139.3,  -5.6, CAL= 145.1, -15.3, ROT=   4.9,  15.3

2025-06-05T16:53:42.058Z,1749142422.058 [DAT](INFO): got valid direction response:
 16:53:40.0429 LVL= 18096, 30817, 20514, 32755, AGC= 65, IDX= 409,-0.00, 2.286, 0.892, 2.096, 1.681, PHS= 0.693,-0.742, 0.412, RAW= 139.3,  -5.6, CAL= 145.1, -15.3, ROT=   4.9,  15.3

2025-06-05T16:53:42.065Z,1749142422.065 [DAT](INFO): DAT read: Bearing   4.9,  15.3 (Local)

2025-06-05T16:53:42.067Z,1749142422.067 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.9,  15.3 (Local)

2025-06-05T16:53:42.068Z,1749142422.068 [DAT](INFO): DAT read: Range 10 to 50 : 61.8 m  (Round-trip  82.5 ms) speed  0.8 m/s

2025-06-05T16:53:42.069Z,1749142422.069 [DAT](INFO): DAT read: user:2467>

2025-06-05T16:53:42.070Z,1749142422.070 [DAT](INFO): DAT read: Tx time:16:53:41.1563

2025-06-05T16:53:42.080Z,1749142422.080 [DAT](INFO): Ping request sent.
2025-06-05T16:53:42.080Z,1749142422.080 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:42.087Z,1749142422.087 [DAT](INFO): DAT read: TxSync time:16:53:41.1555

2025-06-05T16:53:42.087Z,1749142422.087 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:53:42.088Z,1749142422.088 [DAT](INFO): direction in FSK: [0.961032,0.082390,-0.263873]
2025-06-05T16:53:42.088Z,1749142422.088 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:42.089Z,1749142422.089 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:42.098Z,1749142422.098 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:42.105Z,1749142422.105 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:42.232Z,1749142422.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.799999 m,
      deltaT: 3.780029 s,
      deltaX: -2.200001 m,
      approachRate: -0.582006 m/s,
      rangeRepo size: 4

2025-06-05T16:53:42.239Z,1749142422.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.289406 m,
      bearing: 332.353351 deg,
      lat: 36.906269 deg,
      lon: -122.115883 deg,
      deltaT: 7.308013 s,
      deltaX: -4.463669 m,
      approachRate: -0.610791 m/s,
      posRepo size: 4

2025-06-05T16:53:42.239Z,1749142422.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.29 m.
2025-06-05T16:53:42.246Z,1749142422.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.289406 m,
      nav range: 58.514359 m,
      bearing: 334.101959 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024196 deg/s,
      cmd heading: 325.443542 deg,
      new cmd heading: 325.415817 deg.

2025-06-05T16:53:42.248Z,1749142422.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679577 target range: 61.289406 and range: 61.80 m.
2025-06-05T16:53:42.650Z,1749142422.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:42.653Z,1749142422.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.29 m.
2025-06-05T16:53:42.658Z,1749142422.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.289406 m,
      nav range: 58.228680 m,
      bearing: 334.089749 deg,
      approach rate: -0.677843 m/s,
      LOS rate: -0.029115 deg/s,
      cmd heading: 325.415812 deg,
      new cmd heading: 325.379000 deg.

2025-06-05T16:53:42.667Z,1749142422.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678935 target range: 61.289406 and range: 61.80 m.
2025-06-05T16:53:42.808Z,1749142422.808 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:42.808Z,1749142422.808 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:42.809Z,1749142422.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:43.006Z,1749142423.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.29 m.
2025-06-05T16:53:43.013Z,1749142423.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.289406 m,
      nav range: 57.998650 m,
      bearing: 334.079976 deg,
      approach rate: -0.651527 m/s,
      LOS rate: -0.027790 deg/s,
      cmd heading: 325.379011 deg,
      new cmd heading: 325.349575 deg.

2025-06-05T16:53:43.019Z,1749142423.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678421 target range: 61.289406 and range: 61.80 m.
2025-06-05T16:53:43.059Z,1749142423.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979678
2025-06-05T16:53:43.311Z,1749142423.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231522
2025-06-05T16:53:43.419Z,1749142423.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.29 m.
2025-06-05T16:53:43.422Z,1749142423.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.289406 m,
      nav range: 57.728878 m,
      bearing: 334.068842 deg,
      approach rate: -0.652603 m/s,
      LOS rate: -0.027060 deg/s,
      cmd heading: 325.349586 deg,
      new cmd heading: 325.316028 deg.

2025-06-05T16:53:43.428Z,1749142423.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677836 target range: 61.289406 and range: 61.80 m.
2025-06-05T16:53:43.565Z,1749142423.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485425
2025-06-05T16:53:43.816Z,1749142423.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736309
2025-06-05T16:53:43.855Z,1749142423.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.29 m.
2025-06-05T16:53:43.862Z,1749142423.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.289406 m,
      nav range: 57.448601 m,
      bearing: 334.059535 deg,
      approach rate: -0.642387 m/s,
      LOS rate: -0.021436 deg/s,
      cmd heading: 325.316036 deg,
      new cmd heading: 325.287979 deg.

2025-06-05T16:53:43.864Z,1749142423.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677346 target range: 61.289406 and range: 61.80 m.
2025-06-05T16:53:44.067Z,1749142424.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987424
2025-06-05T16:53:44.209Z,1749142424.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.29 m.
2025-06-05T16:53:44.212Z,1749142424.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.289406 m,
      nav range: 57.206558 m,
      bearing: 334.051531 deg,
      approach rate: -0.683470 m/s,
      LOS rate: -0.022695 deg/s,
      cmd heading: 325.287978 deg,
      new cmd heading: 325.263866 deg.

2025-06-05T16:53:44.214Z,1749142424.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676925 target range: 61.289406 and range: 61.80 m.
2025-06-05T16:53:44.319Z,1749142424.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239687
2025-06-05T16:53:44.571Z,1749142424.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491385
2025-06-05T16:53:44.651Z,1749142424.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.29 m.
2025-06-05T16:53:44.654Z,1749142424.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.289406 m,
      nav range: 56.916149 m,
      bearing: 334.045437 deg,
      approach rate: -0.657174 m/s,
      LOS rate: -0.013862 deg/s,
      cmd heading: 325.263854 deg,
      new cmd heading: 325.245477 deg.

2025-06-05T16:53:44.655Z,1749142424.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676604 target range: 61.289406 and range: 61.80 m.
2025-06-05T16:53:44.823Z,1749142424.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743381
2025-06-05T16:53:45.011Z,1749142425.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:45.013Z,1749142425.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.29 m.
2025-06-05T16:53:45.017Z,1749142425.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.289406 m,
      nav range: 56.676987 m,
      bearing: 334.040447 deg,
      approach rate: -0.661950 m/s,
      LOS rate: -0.013868 deg/s,
      cmd heading: 325.245467 deg,
      new cmd heading: 325.230435 deg.

2025-06-05T16:53:45.034Z,1749142425.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676342 target range: 61.289406 and range: 61.80 m.
2025-06-05T16:53:45.079Z,1749142425.079 [DAT](INFO): DAT read: Rx Time:16:53:43.6397

2025-06-05T16:53:45.080Z,1749142425.080 [DAT](INFO): Rx dataTimestamp_ set to:1749142425.079331
2025-06-05T16:53:45.083Z,1749142425.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001794
2025-06-05T16:53:45.327Z,1749142425.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247397
2025-06-05T16:53:45.561Z,1749142425.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.29 m.
2025-06-05T16:53:45.568Z,1749142425.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.289406 m,
      nav range: 56.351749 m,
      bearing: 334.033851 deg,
      approach rate: -0.592951 m/s,
      LOS rate: -0.012096 deg/s,
      cmd heading: 325.230440 deg,
      new cmd heading: 325.210536 deg.

2025-06-05T16:53:45.569Z,1749142425.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675994 target range: 61.289406 and range: 61.80 m.
2025-06-05T16:53:45.586Z,1749142425.586 [DAT](INFO): DAT read: 16:53:43.6398 LVL= 21968, 28401, 21634, 32531, AGC= 68, IDX= 408, 0.06,-1.226,-2.580,-1.413,-1.828, PHS= 0.690,-0.705, 0.411, RAW= 139.1,  -6.3, CAL= 145.0, -16.1, ROT=   5.0,  16.1

2025-06-05T16:53:45.587Z,1749142425.587 [DAT](INFO): got valid direction response:
 16:53:43.6398 LVL= 21968, 28401, 21634, 32531, AGC= 68, IDX= 408, 0.06,-1.226,-2.580,-1.413,-1.828, PHS= 0.690,-0.705, 0.411, RAW= 139.1,  -6.3, CAL= 145.0, -16.1, ROT=   5.0,  16.1

2025-06-05T16:53:45.588Z,1749142425.588 [DAT](INFO): DAT read: Bearing   5.0,  16.1 (Local)

2025-06-05T16:53:45.589Z,1749142425.589 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.0,  16.1 (Local)

2025-06-05T16:53:45.590Z,1749142425.590 [DAT](INFO): DAT read: Range 10 to 50 : 59.4 m  (Round-trip  79.2 ms) speed  0.6 m/s

2025-06-05T16:53:45.591Z,1749142425.591 [DAT](INFO): DAT read: user:2468>

2025-06-05T16:53:45.592Z,1749142425.592 [DAT](INFO): DAT read: Tx time:16:53:44.7564

2025-06-05T16:53:45.592Z,1749142425.592 [DAT](INFO): Ping request sent.
2025-06-05T16:53:45.592Z,1749142425.592 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:45.592Z,1749142425.592 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:53:45.593Z,1749142425.593 [DAT](INFO): direction in FSK: [0.957123,0.083737,-0.277315]
2025-06-05T16:53:45.593Z,1749142425.593 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:45.594Z,1749142425.594 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:45.611Z,1749142425.611 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:45.611Z,1749142425.611 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:45.839Z,1749142425.839 [DAT](INFO): DAT read: TxSync time:16:53:44.7556

2025-06-05T16:53:45.964Z,1749142425.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.400002 m,
      deltaT: 3.528041 s,
      deltaX: -2.399998 m,
      approachRate: -0.680264 m/s,
      rangeRepo size: 4

2025-06-05T16:53:45.971Z,1749142425.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.907654 m,
      bearing: 332.162365 deg,
      lat: 36.906269 deg,
      lon: -122.115890 deg,
      deltaT: 3.528041 s,
      deltaX: -2.381752 m,
      approachRate: -0.675092 m/s,
      posRepo size: 4

2025-06-05T16:53:45.972Z,1749142425.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:45.972Z,1749142425.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-06-05T16:53:45.979Z,1749142425.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 56.331184 m,
      bearing: 333.475108 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012096 deg/s,
      cmd heading: 325.210523 deg,
      new cmd heading: 325.196127 deg.

2025-06-05T16:53:45.987Z,1749142425.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675743 target range: 58.907654 and range: 59.40 m.
2025-06-05T16:53:46.026Z,1749142426.026 [DockingStepper](INFO): Changing to mode: 2
2025-06-05T16:53:46.026Z,1749142426.026 [DockingStepper](INFO): Armed mode.
2025-06-05T16:53:46.107Z,1749142426.107 [DockingStepper](INFO): Commanding negative:54396
2025-06-05T16:53:46.388Z,1749142426.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:46.388Z,1749142426.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-06-05T16:53:46.395Z,1749142426.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 56.048683 m,
      bearing: 333.467909 deg,
      approach rate: -0.657172 m/s,
      LOS rate: -0.016832 deg/s,
      cmd heading: 325.196125 deg,
      new cmd heading: 325.174418 deg.

2025-06-05T16:53:46.396Z,1749142426.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675364 target range: 58.907654 and range: 59.40 m.
2025-06-05T16:53:46.767Z,1749142426.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:46.767Z,1749142426.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-06-05T16:53:46.786Z,1749142426.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 55.790154 m,
      bearing: 333.457637 deg,
      approach rate: -0.683050 m/s,
      LOS rate: -0.027265 deg/s,
      cmd heading: 325.174405 deg,
      new cmd heading: 325.143446 deg.

2025-06-05T16:53:46.787Z,1749142426.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674824 target range: 58.907654 and range: 59.40 m.
2025-06-05T16:53:47.152Z,1749142427.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:47.154Z,1749142427.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:47.154Z,1749142427.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-06-05T16:53:47.157Z,1749142427.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 55.537849 m,
      bearing: 333.447520 deg,
      approach rate: -0.651156 m/s,
      LOS rate: -0.026229 deg/s,
      cmd heading: 325.143451 deg,
      new cmd heading: 325.112962 deg.

2025-06-05T16:53:47.158Z,1749142427.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674292 target range: 58.907654 and range: 59.40 m.
2025-06-05T16:53:47.352Z,1749142427.352 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:47.352Z,1749142427.352 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:47.353Z,1749142427.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:47.603Z,1749142427.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011228
2025-06-05T16:53:47.645Z,1749142427.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:47.646Z,1749142427.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-06-05T16:53:47.651Z,1749142427.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 55.222134 m,
      bearing: 333.432453 deg,
      approach rate: -0.642210 m/s,
      LOS rate: -0.030824 deg/s,
      cmd heading: 325.112961 deg,
      new cmd heading: 325.067501 deg.

2025-06-05T16:53:47.652Z,1749142427.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.673498 target range: 58.907654 and range: 59.40 m.
2025-06-05T16:53:47.856Z,1749142427.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263769
2025-06-05T16:53:47.991Z,1749142427.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:47.992Z,1749142427.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-06-05T16:53:47.995Z,1749142427.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 54.996487 m,
      bearing: 333.421227 deg,
      approach rate: -0.652257 m/s,
      LOS rate: -0.032583 deg/s,
      cmd heading: 325.067499 deg,
      new cmd heading: 325.033684 deg.

2025-06-05T16:53:47.996Z,1749142427.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672908 target range: 58.907654 and range: 59.40 m.
2025-06-05T16:53:48.107Z,1749142428.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515205
2025-06-05T16:53:48.351Z,1749142428.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:48.352Z,1749142428.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-06-05T16:53:48.359Z,1749142428.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767147
2025-06-05T16:53:48.371Z,1749142428.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 54.762039 m,
      bearing: 333.409155 deg,
      approach rate: -0.651022 m/s,
      LOS rate: -0.033667 deg/s,
      cmd heading: 325.033676 deg,
      new cmd heading: 324.997304 deg.

2025-06-05T16:53:48.372Z,1749142428.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672273 target range: 58.907654 and range: 59.40 m.
2025-06-05T16:53:48.612Z,1749142428.612 [DAT](INFO): DAT read: Rx Time:16:53:47.2366

2025-06-05T16:53:48.613Z,1749142428.613 [DAT](INFO): Rx dataTimestamp_ set to:1749142428.612601
2025-06-05T16:53:48.615Z,1749142428.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022694
2025-06-05T16:53:48.791Z,1749142428.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:48.791Z,1749142428.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-06-05T16:53:48.794Z,1749142428.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 54.481476 m,
      bearing: 333.390152 deg,
      approach rate: -0.639190 m/s,
      LOS rate: -0.043514 deg/s,
      cmd heading: 324.997312 deg,
      new cmd heading: 324.940012 deg.

2025-06-05T16:53:48.829Z,1749142428.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671273 target range: 58.907654 and range: 59.40 m.
2025-06-05T16:53:48.864Z,1749142428.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271606
2025-06-05T16:53:49.117Z,1749142429.117 [DAT](INFO): DAT read: Range 10 to 50 : 57.0 m  (Round-trip  76.0 ms) speed  0.5 m/s

2025-06-05T16:53:49.118Z,1749142429.118 [DAT](INFO): DAT read: user:2469>

2025-06-05T16:53:49.119Z,1749142429.119 [DAT](INFO): DAT read: Tx time:16:53:48.3564

2025-06-05T16:53:49.119Z,1749142429.119 [DAT](INFO): Ping request sent.
2025-06-05T16:53:49.120Z,1749142429.120 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:49.120Z,1749142429.120 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:53:49.120Z,1749142429.120 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:49.121Z,1749142429.121 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:49.229Z,1749142429.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:49.237Z,1749142429.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 3.536747 s,
      deltaX: -2.400002 m,
      approachRate: -0.678590 m/s,
      rangeRepo size: 4

2025-06-05T16:53:49.237Z,1749142429.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:49.238Z,1749142429.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-05T16:53:49.245Z,1749142429.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 54.212288 m,
      bearing: 333.371681 deg,
      approach rate: -0.603850 m/s,
      LOS rate: -0.041642 deg/s,
      cmd heading: 324.940021 deg,
      new cmd heading: 324.884330 deg.

2025-06-05T16:53:49.250Z,1749142429.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670301 target range: 58.907654 and range: 57.00 m.
2025-06-05T16:53:49.367Z,1749142429.367 [DAT](INFO): DAT read: TxSync time:16:53:48.3556

2025-06-05T16:53:49.368Z,1749142429.368 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:49.368Z,1749142429.368 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:49.368Z,1749142429.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:49.623Z,1749142429.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503435
2025-06-05T16:53:49.744Z,1749142429.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:49.745Z,1749142429.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-05T16:53:49.750Z,1749142429.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 53.875340 m,
      bearing: 333.342277 deg,
      approach rate: -0.662770 m/s,
      LOS rate: -0.058198 deg/s,
      cmd heading: 324.884341 deg,
      new cmd heading: 324.795578 deg.

2025-06-05T16:53:49.751Z,1749142429.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.668752 target range: 58.907654 and range: 57.00 m.
2025-06-05T16:53:49.875Z,1749142429.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755660
2025-06-05T16:53:50.112Z,1749142430.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:50.112Z,1749142430.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-05T16:53:50.116Z,1749142430.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 53.642185 m,
      bearing: 333.322067 deg,
      approach rate: -0.635021 m/s,
      LOS rate: -0.055282 deg/s,
      cmd heading: 324.795576 deg,
      new cmd heading: 324.734683 deg.

2025-06-05T16:53:50.117Z,1749142430.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667689 target range: 58.907654 and range: 57.00 m.
2025-06-05T16:53:50.127Z,1749142430.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007547
2025-06-05T16:53:50.379Z,1749142430.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259507
2025-06-05T16:53:50.551Z,1749142430.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:50.552Z,1749142430.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-05T16:53:50.593Z,1749142430.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 53.372963 m,
      bearing: 333.298757 deg,
      approach rate: -0.616540 m/s,
      LOS rate: -0.053651 deg/s,
      cmd heading: 324.734678 deg,
      new cmd heading: 324.664395 deg.

2025-06-05T16:53:50.602Z,1749142430.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666462 target range: 58.907654 and range: 57.00 m.
2025-06-05T16:53:50.632Z,1749142430.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512811
2025-06-05T16:53:50.883Z,1749142430.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763799
2025-06-05T16:53:50.988Z,1749142430.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:50.988Z,1749142430.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-05T16:53:50.996Z,1749142430.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 53.098370 m,
      bearing: 333.274667 deg,
      approach rate: -0.624499 m/s,
      LOS rate: -0.055071 deg/s,
      cmd heading: 324.664382 deg,
      new cmd heading: 324.591737 deg.

2025-06-05T16:53:50.998Z,1749142430.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.665195 target range: 58.907654 and range: 57.00 m.
2025-06-05T16:53:51.136Z,1749142431.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016534
2025-06-05T16:53:51.387Z,1749142431.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267572
2025-06-05T16:53:51.413Z,1749142431.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:51.417Z,1749142431.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:51.417Z,1749142431.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-05T16:53:51.441Z,1749142431.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 52.806892 m,
      bearing: 333.248570 deg,
      approach rate: -0.679718 m/s,
      LOS rate: -0.061193 deg/s,
      cmd heading: 324.591736 deg,
      new cmd heading: 324.513013 deg.

2025-06-05T16:53:51.446Z,1749142431.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663821 target range: 58.907654 and range: 57.00 m.
2025-06-05T16:53:51.643Z,1749142431.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522308
2025-06-05T16:53:51.777Z,1749142431.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:51.777Z,1749142431.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-05T16:53:51.797Z,1749142431.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 52.574169 m,
      bearing: 333.233347 deg,
      approach rate: -0.646116 m/s,
      LOS rate: -0.042452 deg/s,
      cmd heading: 324.513025 deg,
      new cmd heading: 324.467152 deg.

2025-06-05T16:53:51.803Z,1749142431.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663020 target range: 58.907654 and range: 57.00 m.
2025-06-05T16:53:51.892Z,1749142431.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772612
2025-06-05T16:53:52.143Z,1749142432.143 [DAT](INFO): DAT read: Rx Time:16:53:50.8336

2025-06-05T16:53:52.143Z,1749142432.143 [DAT](INFO): Rx dataTimestamp_ set to:1749142432.143215
2025-06-05T16:53:52.144Z,1749142432.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024450
2025-06-05T16:53:52.192Z,1749142432.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:52.192Z,1749142432.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-06-05T16:53:52.193Z,1749142432.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.00 m.
2025-06-05T16:53:52.193Z,1749142432.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-05T16:53:52.200Z,1749142432.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 52.313938 m,
      bearing: 333.215476 deg,
      approach rate: -0.627122 m/s,
      LOS rate: -0.043282 deg/s,
      cmd heading: 324.467153 deg,
      new cmd heading: 324.413272 deg.

2025-06-05T16:53:52.201Z,1749142432.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662080 target range: 58.907654 and range: 57.00 m.
2025-06-05T16:53:52.398Z,1749142432.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278652
2025-06-05T16:53:52.639Z,1749142432.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:52.650Z,1749142432.650 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m  (Round-trip  73.1 ms) speed  0.5 m/s

2025-06-05T16:53:52.651Z,1749142432.651 [DAT](INFO): DAT read: user:2470>

2025-06-05T16:53:52.651Z,1749142432.651 [DAT](INFO): DAT read: Tx time:16:53:51.9064

2025-06-05T16:53:52.652Z,1749142432.652 [DAT](INFO): Ping request sent.
2025-06-05T16:53:52.652Z,1749142432.652 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:52.652Z,1749142432.652 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:53:52.652Z,1749142432.652 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:52.653Z,1749142432.653 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:52.670Z,1749142432.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 52.059086 m,
      bearing: 333.197356 deg,
      approach rate: -0.577602 m/s,
      LOS rate: -0.041268 deg/s,
      cmd heading: 324.413276 deg,
      new cmd heading: 324.358652 deg.

2025-06-05T16:53:52.671Z,1749142432.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661127 target range: 58.907654 and range: 57.00 m.
2025-06-05T16:53:52.899Z,1749142432.899 [DAT](INFO): DAT read: TxSync time:16:53:51.9056

2025-06-05T16:53:53.129Z,1749142433.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.799999 m,
      deltaT: 3.532558 s,
      deltaX: -2.200001 m,
      approachRate: -0.622778 m/s,
      rangeRepo size: 4

2025-06-05T16:53:53.131Z,1749142433.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:53.138Z,1749142433.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 51.714333 m,
      bearing: 333.170264 deg,
      approach rate: -0.695846 m/s,
      LOS rate: -0.055047 deg/s,
      cmd heading: 324.358662 deg,
      new cmd heading: 324.276844 deg.

2025-06-05T16:53:53.139Z,1749142433.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.659698 target range: 58.907654 and range: 54.80 m.
2025-06-05T16:53:53.479Z,1749142433.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:53.481Z,1749142433.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:53.484Z,1749142433.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 51.475609 m,
      bearing: 333.151409 deg,
      approach rate: -0.677478 m/s,
      LOS rate: -0.053755 deg/s,
      cmd heading: 324.276837 deg,
      new cmd heading: 324.220011 deg.

2025-06-05T16:53:53.485Z,1749142433.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.658707 target range: 58.907654 and range: 54.80 m.
2025-06-05T16:53:53.657Z,1749142433.657 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:53.658Z,1749142433.658 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:53.659Z,1749142433.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:53.877Z,1749142433.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:53.899Z,1749142433.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 51.221405 m,
      bearing: 333.131443 deg,
      approach rate: -0.641260 m/s,
      LOS rate: -0.050619 deg/s,
      cmd heading: 324.220009 deg,
      new cmd heading: 324.159812 deg.

2025-06-05T16:53:53.900Z,1749142433.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657656 target range: 58.907654 and range: 54.80 m.
2025-06-05T16:53:53.907Z,1749142433.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255394
2025-06-05T16:53:54.159Z,1749142434.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507507
2025-06-05T16:53:54.257Z,1749142434.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:54.260Z,1749142434.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 50.977982 m,
      bearing: 333.111488 deg,
      approach rate: -0.641430 m/s,
      LOS rate: -0.052833 deg/s,
      cmd heading: 324.159822 deg,
      new cmd heading: 324.099671 deg.

2025-06-05T16:53:54.261Z,1749142434.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656606 target range: 58.907654 and range: 54.80 m.
2025-06-05T16:53:54.411Z,1749142434.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759484
2025-06-05T16:53:54.666Z,1749142434.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013978
2025-06-05T16:53:54.725Z,1749142434.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:54.728Z,1749142434.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 50.675476 m,
      bearing: 333.091433 deg,
      approach rate: -0.646364 m/s,
      LOS rate: -0.043108 deg/s,
      cmd heading: 324.099661 deg,
      new cmd heading: 324.039137 deg.

2025-06-05T16:53:54.729Z,1749142434.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.655550 target range: 58.907654 and range: 54.80 m.
2025-06-05T16:53:54.916Z,1749142434.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263903
2025-06-05T16:53:55.041Z,1749142435.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:55.065Z,1749142435.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 50.471272 m,
      bearing: 333.077720 deg,
      approach rate: -0.646604 m/s,
      LOS rate: -0.043595 deg/s,
      cmd heading: 324.039146 deg,
      new cmd heading: 323.997842 deg.

2025-06-05T16:53:55.066Z,1749142435.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654829 target range: 58.907654 and range: 54.80 m.
2025-06-05T16:53:55.167Z,1749142435.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515491
2025-06-05T16:53:55.420Z,1749142435.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767837
2025-06-05T16:53:55.462Z,1749142435.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:55.467Z,1749142435.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 50.199005 m,
      bearing: 333.059297 deg,
      approach rate: -0.646379 m/s,
      LOS rate: -0.043974 deg/s,
      cmd heading: 323.997837 deg,
      new cmd heading: 323.942269 deg.

2025-06-05T16:53:55.468Z,1749142435.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.653859 target range: 58.907654 and range: 54.80 m.
2025-06-05T16:53:55.676Z,1749142435.676 [DAT](INFO): DAT read: Rx Time:16:53:54.3807

2025-06-05T16:53:55.679Z,1749142435.679 [DAT](INFO): Rx dataTimestamp_ set to:1749142435.677226
2025-06-05T16:53:55.681Z,1749142435.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028410
2025-06-05T16:53:55.879Z,1749142435.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:55.882Z,1749142435.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:55.885Z,1749142435.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 49.933201 m,
      bearing: 333.035300 deg,
      approach rate: -0.632593 m/s,
      LOS rate: -0.057417 deg/s,
      cmd heading: 323.942267 deg,
      new cmd heading: 323.869889 deg.

2025-06-05T16:53:55.890Z,1749142435.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.652596 target range: 58.907654 and range: 54.80 m.
2025-06-05T16:53:55.923Z,1749142435.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271556
2025-06-05T16:53:56.177Z,1749142436.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525307
2025-06-05T16:53:56.257Z,1749142436.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:53:56.260Z,1749142436.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.907654 m,
      nav range: 49.694477 m,
      bearing: 333.013895 deg,
      approach rate: -0.637329 m/s,
      LOS rate: -0.057419 deg/s,
      cmd heading: 323.869894 deg,
      new cmd heading: 323.805371 deg.

2025-06-05T16:53:56.261Z,1749142436.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651470 target range: 58.907654 and range: 54.80 m.
2025-06-05T16:53:56.434Z,1749142436.434 [DAT](INFO): DAT read: 16:53:54.3807 LVL= 23504, 30865, 22002, 32755, AGC= 66, IDX= 410, 0.26, 1.069,-0.314, 0.727, 0.545, PHS= 0.613,-0.811, 0.180, RAW= 132.7,   0.3, CAL= 138.4,  -8.3, ROT=  11.6,   8.3

2025-06-05T16:53:56.435Z,1749142436.435 [DAT](INFO): got valid direction response:
 16:53:54.3807 LVL= 23504, 30865, 22002, 32755, AGC= 66, IDX= 410, 0.26, 1.069,-0.314, 0.727, 0.545, PHS= 0.613,-0.811, 0.180, RAW= 132.7,   0.3, CAL= 138.4,  -8.3, ROT=  11.6,   8.3

2025-06-05T16:53:56.436Z,1749142436.436 [DAT](INFO): DAT read: Bearing  11.6,   8.3 (Local)

2025-06-05T16:53:56.437Z,1749142436.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.6,   8.3 (Local)

2025-06-05T16:53:56.438Z,1749142436.438 [DAT](INFO): DAT read: Range 10 to 50 : 52.6 m  (Round-trip  70.2 ms) speed  0.6 m/s

2025-06-05T16:53:56.439Z,1749142436.439 [DAT](INFO): DAT read: user:2471>

2025-06-05T16:53:56.440Z,1749142436.440 [DAT](INFO): DAT read: Tx time:16:53:55.5064

2025-06-05T16:53:56.440Z,1749142436.440 [DAT](INFO): Ping request sent.
2025-06-05T16:53:56.440Z,1749142436.440 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:56.441Z,1749142436.441 [DAT](INFO): DAT read: TxSync time:16:53:55.5056

2025-06-05T16:53:56.441Z,1749142436.441 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:53:56.443Z,1749142436.443 [DAT](INFO): direction in FSK: [0.969315,0.198972,-0.144356]
2025-06-05T16:53:56.443Z,1749142436.443 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:56.443Z,1749142436.443 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:56.447Z,1749142436.447 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:56.448Z,1749142436.448 [DAT](INFO): publishing direction and range info
2025-06-05T16:53:56.837Z,1749142436.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.599998 m,
      deltaT: 3.778941 s,
      deltaX: -2.200001 m,
      approachRate: -0.582174 m/s,
      rangeRepo size: 4

2025-06-05T16:53:56.844Z,1749142436.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.165298 m,
      bearing: 338.553118 deg,
      lat: 36.906271 deg,
      lon: -122.115890 deg,
      deltaT: 10.848246 s,
      deltaX: -6.742355 m,
      approachRate: -0.621516 m/s,
      posRepo size: 4

2025-06-05T16:53:56.844Z,1749142436.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.17 m.
2025-06-05T16:53:56.851Z,1749142436.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.165298 m,
      nav range: 49.518700 m,
      bearing: 333.088088 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.057419 deg/s,
      cmd heading: 323.805362 deg,
      new cmd heading: 323.705483 deg.

2025-06-05T16:53:56.852Z,1749142436.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649726 target range: 52.165298 and range: 52.60 m.
2025-06-05T16:53:57.162Z,1749142437.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.17 m.
2025-06-05T16:53:57.167Z,1749142437.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.165298 m,
      nav range: 49.293003 m,
      bearing: 333.071105 deg,
      approach rate: -0.693802 m/s,
      LOS rate: -0.052446 deg/s,
      cmd heading: 323.705478 deg,
      new cmd heading: 323.654295 deg.

2025-06-05T16:53:57.168Z,1749142437.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648833 target range: 52.165298 and range: 52.60 m.
2025-06-05T16:53:57.558Z,1749142437.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.17 m.
2025-06-05T16:53:57.577Z,1749142437.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.165298 m,
      nav range: 49.045605 m,
      bearing: 333.055154 deg,
      approach rate: -0.624868 m/s,
      LOS rate: -0.040490 deg/s,
      cmd heading: 323.654306 deg,
      new cmd heading: 323.606214 deg.

2025-06-05T16:53:57.578Z,1749142437.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.647994 target range: 52.165298 and range: 52.60 m.
2025-06-05T16:53:58.007Z,1749142438.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:53:58.009Z,1749142438.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.17 m.
2025-06-05T16:53:58.012Z,1749142438.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.165298 m,
      nav range: 48.762054 m,
      bearing: 333.026892 deg,
      approach rate: -0.628674 m/s,
      LOS rate: -0.063027 deg/s,
      cmd heading: 323.606221 deg,
      new cmd heading: 323.520941 deg.

2025-06-05T16:53:58.013Z,1749142438.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.646506 target range: 52.165298 and range: 52.60 m.
2025-06-05T16:53:58.207Z,1749142438.207 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:53:58.207Z,1749142438.207 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:53:58.207Z,1749142438.207 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:53:58.355Z,1749142438.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.17 m.
2025-06-05T16:53:58.357Z,1749142438.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.165298 m,
      nav range: 48.547482 m,
      bearing: 333.005157 deg,
      approach rate: -0.620090 m/s,
      LOS rate: -0.063089 deg/s,
      cmd heading: 323.520953 deg,
      new cmd heading: 323.455460 deg.

2025-06-05T16:53:58.359Z,1749142438.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645363 target range: 52.165298 and range: 52.60 m.
2025-06-05T16:53:58.459Z,1749142438.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019086
2025-06-05T16:53:58.715Z,1749142438.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274014
2025-06-05T16:53:58.815Z,1749142438.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.17 m.
2025-06-05T16:53:58.818Z,1749142438.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.165298 m,
      nav range: 48.268635 m,
      bearing: 332.967847 deg,
      approach rate: -0.608351 m/s,
      LOS rate: -0.081867 deg/s,
      cmd heading: 323.455465 deg,
      new cmd heading: 323.342891 deg.

2025-06-05T16:53:58.819Z,1749142438.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.643398 target range: 52.165298 and range: 52.60 m.
2025-06-05T16:53:58.964Z,1749142438.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523219
2025-06-05T16:53:59.159Z,1749142439.159 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:53:59.159Z,1749142439.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.17 m.
2025-06-05T16:53:59.162Z,1749142439.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.165298 m,
      nav range: 48.059174 m,
      bearing: 332.939534 deg,
      approach rate: -0.607314 m/s,
      LOS rate: -0.082449 deg/s,
      cmd heading: 323.342904 deg,
      new cmd heading: 323.257595 deg.

2025-06-05T16:53:59.165Z,1749142439.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.641909 target range: 52.165298 and range: 52.60 m.
2025-06-05T16:53:59.217Z,1749142439.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776573
2025-06-05T16:53:59.471Z,1749142439.471 [DAT](INFO): DAT read: Rx Time:16:53:57.9775

2025-06-05T16:53:59.472Z,1749142439.472 [DAT](INFO): Rx dataTimestamp_ set to:1749142439.471307
2025-06-05T16:53:59.472Z,1749142439.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031776
2025-06-05T16:53:59.576Z,1749142439.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.17 m.
2025-06-05T16:53:59.579Z,1749142439.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.165298 m,
      nav range: 47.805515 m,
      bearing: 332.905092 deg,
      approach rate: -0.607008 m/s,
      LOS rate: -0.082859 deg/s,
      cmd heading: 323.257581 deg,
      new cmd heading: 323.153705 deg.

2025-06-05T16:53:59.580Z,1749142439.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640096 target range: 52.165298 and range: 52.60 m.
2025-06-05T16:53:59.736Z,1749142439.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294649
2025-06-05T16:53:59.983Z,1749142439.983 [DAT](INFO): DAT read: 16:53:57.9775 LVL= 22672, 27969, 21410, 31843, AGC= 67, IDX= 409,-0.01,-2.206, 2.637,-2.504,-2.759, PHS= 0.641,-0.840, 0.252, RAW= 135.3,  -0.8, CAL= 140.6, -10.0, ROT=   9.4,  10.0

2025-06-05T16:53:59.984Z,1749142439.984 [DAT](INFO): got valid direction response:
 16:53:57.9775 LVL= 22672, 27969, 21410, 31843, AGC= 67, IDX= 409,-0.01,-2.206, 2.637,-2.504,-2.759, PHS= 0.641,-0.840, 0.252, RAW= 135.3,  -0.8, CAL= 140.6, -10.0, ROT=   9.4,  10.0

2025-06-05T16:53:59.985Z,1749142439.985 [DAT](INFO): DAT read: Bearing   9.4,  10.0 (Local)

2025-06-05T16:53:59.985Z,1749142439.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.4,  10.0 (Local)

2025-06-05T16:53:59.987Z,1749142439.987 [DAT](INFO): DAT read: Range 10 to 50 : 50.1 m  (Round-trip  66.8 ms) speed  0.4 m/s

2025-06-05T16:53:59.987Z,1749142439.987 [DAT](INFO): DAT read: user:2472>

2025-06-05T16:53:59.988Z,1749142439.988 [DAT](INFO): DAT read: Tx time:16:53:59.0565

2025-06-05T16:53:59.988Z,1749142439.988 [DAT](INFO): Ping request sent.
2025-06-05T16:53:59.989Z,1749142439.989 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:53:59.989Z,1749142439.989 [DAT](INFO): DAT read: TxSync time:16:53:59.0557

2025-06-05T16:53:59.990Z,1749142439.990 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:53:59.995Z,1749142439.995 [DAT](INFO): direction in FSK: [0.971584,0.160845,-0.173648]
2025-06-05T16:53:59.995Z,1749142439.995 [DAT](INFO): publishing transmit ping time
2025-06-05T16:53:59.995Z,1749142439.995 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:00.020Z,1749142440.020 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:00.021Z,1749142440.021 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:00.065Z,1749142440.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.099998 m,
      deltaT: 3.547704 s,
      deltaX: -2.500000 m,
      approachRate: -0.704681 m/s,
      rangeRepo size: 4

2025-06-05T16:54:00.076Z,1749142440.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.687271 m,
      bearing: 335.873426 deg,
      lat: 36.906271 deg,
      lon: -122.115880 deg,
      deltaT: 3.547704 s,
      deltaX: -2.478027 m,
      approachRate: -0.698488 m/s,
      posRepo size: 4

2025-06-05T16:54:00.076Z,1749142440.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-06-05T16:54:00.087Z,1749142440.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.687271 m,
      nav range: 47.146862 m,
      bearing: 333.782893 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.082859 deg/s,
      cmd heading: 323.153708 deg,
      new cmd heading: 323.034845 deg.

2025-06-05T16:54:00.088Z,1749142440.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638021 target range: 49.687271 and range: 50.10 m.
2025-06-05T16:54:00.164Z,1749142440.164 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:54:00.418Z,1749142440.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:00.424Z,1749142440.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-06-05T16:54:00.432Z,1749142440.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.687271 m,
      nav range: 46.918209 m,
      bearing: 333.757970 deg,
      approach rate: -0.617672 m/s,
      LOS rate: -0.067654 deg/s,
      cmd heading: 323.034835 deg,
      new cmd heading: 322.959701 deg.

2025-06-05T16:54:00.433Z,1749142440.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636710 target range: 49.687271 and range: 50.10 m.
2025-06-05T16:54:00.482Z,1749142440.482 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:54:00.482Z,1749142440.482 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:54:00.482Z,1749142440.482 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:54:00.734Z,1749142440.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745001
2025-06-05T16:54:00.833Z,1749142440.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-06-05T16:54:00.836Z,1749142440.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.687271 m,
      nav range: 46.667713 m,
      bearing: 333.719439 deg,
      approach rate: -0.613205 m/s,
      LOS rate: -0.094828 deg/s,
      cmd heading: 322.959703 deg,
      new cmd heading: 322.843491 deg.

2025-06-05T16:54:00.837Z,1749142440.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.634682 target range: 49.687271 and range: 50.10 m.
2025-06-05T16:54:00.983Z,1749142440.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994534
2025-06-05T16:54:01.201Z,1749142441.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-06-05T16:54:01.204Z,1749142441.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.687271 m,
      nav range: 46.447239 m,
      bearing: 333.684908 deg,
      approach rate: -0.599400 m/s,
      LOS rate: -0.094325 deg/s,
      cmd heading: 322.843480 deg,
      new cmd heading: 322.739395 deg.

2025-06-05T16:54:01.205Z,1749142441.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.632865 target range: 49.687271 and range: 50.10 m.
2025-06-05T16:54:01.235Z,1749142441.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246644
2025-06-05T16:54:01.487Z,1749142441.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498494
2025-06-05T16:54:01.598Z,1749142441.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-06-05T16:54:01.601Z,1749142441.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.687271 m,
      nav range: 46.207600 m,
      bearing: 333.646673 deg,
      approach rate: -0.602739 m/s,
      LOS rate: -0.096669 deg/s,
      cmd heading: 322.739388 deg,
      new cmd heading: 322.624086 deg.

2025-06-05T16:54:01.602Z,1749142441.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630853 target range: 49.687271 and range: 50.10 m.
2025-06-05T16:54:01.743Z,1749142441.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754200
2025-06-05T16:54:01.992Z,1749142441.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003470
2025-06-05T16:54:02.068Z,1749142442.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-06-05T16:54:02.071Z,1749142442.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.687271 m,
      nav range: 45.918427 m,
      bearing: 333.607270 deg,
      approach rate: -0.615903 m/s,
      LOS rate: -0.084451 deg/s,
      cmd heading: 322.624095 deg,
      new cmd heading: 322.505143 deg.

2025-06-05T16:54:02.072Z,1749142442.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.628777 target range: 49.687271 and range: 50.10 m.
2025-06-05T16:54:02.245Z,1749142442.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255632
2025-06-05T16:54:02.403Z,1749142442.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-06-05T16:54:02.406Z,1749142442.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.687271 m,
      nav range: 45.710911 m,
      bearing: 333.579044 deg,
      approach rate: -0.618945 m/s,
      LOS rate: -0.084571 deg/s,
      cmd heading: 322.505140 deg,
      new cmd heading: 322.420078 deg.

2025-06-05T16:54:02.407Z,1749142442.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627292 target range: 49.687271 and range: 50.10 m.
2025-06-05T16:54:02.499Z,1749142442.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510603
2025-06-05T16:54:02.755Z,1749142442.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766206
2025-06-05T16:54:02.858Z,1749142442.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:02.860Z,1749142442.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-06-05T16:54:02.865Z,1749142442.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.687271 m,
      nav range: 45.426247 m,
      bearing: 333.545373 deg,
      approach rate: -0.622443 m/s,
      LOS rate: -0.074087 deg/s,
      cmd heading: 322.420091 deg,
      new cmd heading: 322.318444 deg.

2025-06-05T16:54:02.866Z,1749142442.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625518 target range: 49.687271 and range: 50.10 m.
2025-06-05T16:54:03.003Z,1749142443.003 [DAT](INFO): DAT read: Rx Time:16:54:01.5248

2025-06-05T16:54:03.004Z,1749142443.004 [DAT](INFO): Rx dataTimestamp_ set to:1749142443.003455
2025-06-05T16:54:03.004Z,1749142443.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015668
2025-06-05T16:54:03.232Z,1749142443.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-06-05T16:54:03.236Z,1749142443.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.687271 m,
      nav range: 45.206341 m,
      bearing: 333.519506 deg,
      approach rate: -0.591328 m/s,
      LOS rate: -0.069895 deg/s,
      cmd heading: 322.318430 deg,
      new cmd heading: 322.240452 deg.

2025-06-05T16:54:03.236Z,1749142443.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624157 target range: 49.687271 and range: 50.10 m.
2025-06-05T16:54:03.255Z,1749142443.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266561
2025-06-05T16:54:03.520Z,1749142443.520 [DAT](INFO): DAT read: 16:54:01.5248 LVL= 23520, 32753, 22770, 32755, AGC= 65, IDX= 413, 0.12,-1.260,-2.649,-1.569,-1.829, PHS= 0.657,-0.773, 0.258, RAW= 134.3,  -2.2, CAL= 139.7, -11.9, ROT=  10.3,  11.9

2025-06-05T16:54:03.523Z,1749142443.523 [DAT](INFO): got valid direction response:
 16:54:01.5248 LVL= 23520, 32753, 22770, 32755, AGC= 65, IDX= 413, 0.12,-1.260,-2.649,-1.569,-1.829, PHS= 0.657,-0.773, 0.258, RAW= 134.3,  -2.2, CAL= 139.7, -11.9, ROT=  10.3,  11.9

2025-06-05T16:54:03.525Z,1749142443.525 [DAT](INFO): DAT read: Bearing  10.3,  11.9 (Local)

2025-06-05T16:54:03.525Z,1749142443.525 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.3,  11.9 (Local)

2025-06-05T16:54:03.528Z,1749142443.528 [DAT](INFO): DAT read: Range 10 to 50 : 48.0 m  (Round-trip  64.1 ms) speed  0.8 m/s

2025-06-05T16:54:03.529Z,1749142443.529 [DAT](INFO): DAT read: user:2473>

2025-06-05T16:54:03.531Z,1749142443.531 [DAT](INFO): DAT read: Tx time:16:54:02.6065

2025-06-05T16:54:03.532Z,1749142443.532 [DAT](INFO): Ping request sent.
2025-06-05T16:54:03.532Z,1749142443.532 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:54:03.533Z,1749142443.533 [DAT](INFO): DAT read: TxSync time:16:54:02.6057

2025-06-05T16:54:03.533Z,1749142443.533 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:54:03.536Z,1749142443.536 [DAT](INFO): direction in FSK: [0.962740,0.174960,-0.206204]
2025-06-05T16:54:03.536Z,1749142443.536 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:03.537Z,1749142443.537 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:03.542Z,1749142443.542 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:03.542Z,1749142443.542 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:03.670Z,1749142443.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.000000 m,
      deltaT: 3.534617 s,
      deltaX: -2.099998 m,
      approachRate: -0.594123 m/s,
      rangeRepo size: 4

2025-06-05T16:54:03.673Z,1749142443.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.605213 m,
      bearing: 336.846789 deg,
      lat: 36.906292 deg,
      lon: -122.115871 deg,
      deltaT: 3.534617 s,
      deltaX: -2.082058 m,
      approachRate: -0.589048 m/s,
      posRepo size: 4

2025-06-05T16:54:03.673Z,1749142443.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.61 m.
2025-06-05T16:54:03.681Z,1749142443.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.605213 m,
      nav range: 46.668762 m,
      bearing: 335.688098 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069895 deg/s,
      cmd heading: 322.240457 deg,
      new cmd heading: 322.148755 deg.

2025-06-05T16:54:03.703Z,1749142443.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622557 target range: 47.605213 and range: 48.00 m.
2025-06-05T16:54:04.065Z,1749142444.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.61 m.
2025-06-05T16:54:04.068Z,1749142444.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.605213 m,
      nav range: 46.413937 m,
      bearing: 335.681220 deg,
      approach rate: -0.643984 m/s,
      LOS rate: -0.017479 deg/s,
      cmd heading: 322.148768 deg,
      new cmd heading: 322.128019 deg.

2025-06-05T16:54:04.069Z,1749142444.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622195 target range: 47.605213 and range: 48.00 m.
2025-06-05T16:54:04.443Z,1749142444.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.61 m.
2025-06-05T16:54:04.446Z,1749142444.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.605213 m,
      nav range: 46.190456 m,
      bearing: 335.677313 deg,
      approach rate: -0.592754 m/s,
      LOS rate: -0.010413 deg/s,
      cmd heading: 322.128032 deg,
      new cmd heading: 322.116254 deg.

2025-06-05T16:54:04.448Z,1749142444.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.621989 target range: 47.605213 and range: 48.00 m.
2025-06-05T16:54:04.875Z,1749142444.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:04.877Z,1749142444.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.61 m.
2025-06-05T16:54:04.881Z,1749142444.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.605213 m,
      nav range: 45.905163 m,
      bearing: 335.681872 deg,
      approach rate: -0.656375 m/s,
      LOS rate: 0.010556 deg/s,
      cmd heading: 322.116257 deg,
      new cmd heading: 322.130021 deg.

2025-06-05T16:54:04.883Z,1749142444.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622230 target range: 47.605213 and range: 48.00 m.
2025-06-05T16:54:05.027Z,1749142445.027 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:54:05.027Z,1749142445.027 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:54:05.027Z,1749142445.027 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:54:05.279Z,1749142445.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747357
2025-06-05T16:54:05.303Z,1749142445.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.61 m.
2025-06-05T16:54:05.305Z,1749142445.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.605213 m,
      nav range: 45.637196 m,
      bearing: 335.687592 deg,
      approach rate: -0.629840 m/s,
      LOS rate: 0.013521 deg/s,
      cmd heading: 322.130026 deg,
      new cmd heading: 322.147284 deg.

2025-06-05T16:54:05.307Z,1749142445.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622531 target range: 47.605213 and range: 48.00 m.
2025-06-05T16:54:05.532Z,1749142445.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000611
2025-06-05T16:54:05.644Z,1749142445.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.61 m.
2025-06-05T16:54:05.649Z,1749142445.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.605213 m,
      nav range: 45.421402 m,
      bearing: 335.693034 deg,
      approach rate: -0.631284 m/s,
      LOS rate: 0.015998 deg/s,
      cmd heading: 322.147293 deg,
      new cmd heading: 322.163699 deg.

2025-06-05T16:54:05.650Z,1749142445.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622818 target range: 47.605213 and range: 48.00 m.
2025-06-05T16:54:05.783Z,1749142445.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251504
2025-06-05T16:54:06.035Z,1749142446.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503379
2025-06-05T16:54:06.174Z,1749142446.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.61 m.
2025-06-05T16:54:06.177Z,1749142446.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.605213 m,
      nav range: 45.101200 m,
      bearing: 335.707234 deg,
      approach rate: -0.604458 m/s,
      LOS rate: 0.026996 deg/s,
      cmd heading: 322.163713 deg,
      new cmd heading: 322.206614 deg.

2025-06-05T16:54:06.178Z,1749142446.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.623566 target range: 47.605213 and range: 48.00 m.
2025-06-05T16:54:06.287Z,1749142446.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755439
2025-06-05T16:54:06.540Z,1749142446.540 [DAT](INFO): DAT read: Rx Time:16:54:05.0718

2025-06-05T16:54:06.541Z,1749142446.541 [DAT](INFO): Rx dataTimestamp_ set to:1749142446.540282
2025-06-05T16:54:06.541Z,1749142446.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009775
2025-06-05T16:54:06.596Z,1749142446.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.61 m.
2025-06-05T16:54:06.608Z,1749142446.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.605213 m,
      nav range: 44.846676 m,
      bearing: 335.719529 deg,
      approach rate: -0.611693 m/s,
      LOS rate: 0.029715 deg/s,
      cmd heading: 322.206606 deg,
      new cmd heading: 322.243700 deg.

2025-06-05T16:54:06.609Z,1749142446.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624214 target range: 47.605213 and range: 48.00 m.
2025-06-05T16:54:06.794Z,1749142446.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261681
2025-06-05T16:54:06.972Z,1749142446.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:06.974Z,1749142446.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.61 m.
2025-06-05T16:54:06.977Z,1749142446.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.605213 m,
      nav range: 44.603100 m,
      bearing: 335.733007 deg,
      approach rate: -0.634039 m/s,
      LOS rate: 0.035274 deg/s,
      cmd heading: 322.243708 deg,
      new cmd heading: 322.284361 deg.

2025-06-05T16:54:06.994Z,1749142446.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624923 target range: 47.605213 and range: 48.00 m.
2025-06-05T16:54:07.051Z,1749142447.051 [DAT](INFO): DAT read: 16:54:05.0718 LVL= 23504, 29105, 20498, 32755, AGC= 64, IDX= 415, 0.09, 1.130,-0.220, 0.836, 0.581, PHS= 0.637,-0.753, 0.252, RAW= 134.4,  -2.2, CAL= 139.9, -11.8, ROT=  10.1,  11.8

2025-06-05T16:54:07.053Z,1749142447.053 [DAT](INFO): got valid direction response:
 16:54:05.0718 LVL= 23504, 29105, 20498, 32755, AGC= 64, IDX= 415, 0.09, 1.130,-0.220, 0.836, 0.581, PHS= 0.637,-0.753, 0.252, RAW= 134.4,  -2.2, CAL= 139.9, -11.8, ROT=  10.1,  11.8

2025-06-05T16:54:07.055Z,1749142447.055 [DAT](INFO): DAT read: Bearing  10.1,  11.8 (Local)

2025-06-05T16:54:07.055Z,1749142447.055 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.1,  11.8 (Local)

2025-06-05T16:54:07.057Z,1749142447.057 [DAT](INFO): DAT read: Range 10 to 50 : 45.9 m  (Round-trip  61.2 ms) speed  0.7 m/s

2025-06-05T16:54:07.067Z,1749142447.067 [DAT](INFO): DAT read: user:2474>

2025-06-05T16:54:07.068Z,1749142447.068 [DAT](INFO): DAT read: Tx time:16:54:06.1565

2025-06-05T16:54:07.069Z,1749142447.069 [DAT](INFO): Ping request sent.
2025-06-05T16:54:07.069Z,1749142447.069 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:54:07.070Z,1749142447.070 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:54:07.095Z,1749142447.095 [DAT](INFO): direction in FSK: [0.963698,0.171661,-0.204496]
2025-06-05T16:54:07.095Z,1749142447.095 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:07.095Z,1749142447.095 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:07.101Z,1749142447.101 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:07.101Z,1749142447.101 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:07.295Z,1749142447.295 [DAT](INFO): DAT read: TxSync time:16:54:06.1557

2025-06-05T16:54:07.361Z,1749142447.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.900002 m,
      deltaT: 3.533459 s,
      deltaX: -2.099998 m,
      approachRate: -0.594318 m/s,
      rangeRepo size: 4

2025-06-05T16:54:07.371Z,1749142447.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.522594 m,
      bearing: 335.245033 deg,
      lat: 36.906292 deg,
      lon: -122.115871 deg,
      deltaT: 3.533459 s,
      deltaX: -2.082619 m,
      approachRate: -0.589399 m/s,
      posRepo size: 4

2025-06-05T16:54:07.372Z,1749142447.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.52 m.
2025-06-05T16:54:07.381Z,1749142447.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.522594 m,
      nav range: 44.446682 m,
      bearing: 335.780919 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.035274 deg/s,
      cmd heading: 322.284361 deg,
      new cmd heading: 322.325226 deg.

2025-06-05T16:54:07.383Z,1749142447.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625637 target range: 45.522594 and range: 45.90 m.
2025-06-05T16:54:07.733Z,1749142447.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.52 m.
2025-06-05T16:54:07.736Z,1749142447.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.522594 m,
      nav range: 44.212502 m,
      bearing: 335.795080 deg,
      approach rate: -0.633665 m/s,
      LOS rate: 0.038520 deg/s,
      cmd heading: 322.325233 deg,
      new cmd heading: 322.367940 deg.

2025-06-05T16:54:07.737Z,1749142447.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.626382 target range: 45.522594 and range: 45.90 m.
2025-06-05T16:54:08.177Z,1749142448.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.52 m.
2025-06-05T16:54:08.184Z,1749142448.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.522594 m,
      nav range: 43.966587 m,
      bearing: 335.807487 deg,
      approach rate: -0.550696 m/s,
      LOS rate: 0.027940 deg/s,
      cmd heading: 322.367935 deg,
      new cmd heading: 322.405366 deg.

2025-06-05T16:54:08.185Z,1749142448.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627035 target range: 45.522594 and range: 45.90 m.
2025-06-05T16:54:08.572Z,1749142448.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.52 m.
2025-06-05T16:54:08.579Z,1749142448.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.522594 m,
      nav range: 43.736870 m,
      bearing: 335.819353 deg,
      approach rate: -0.581070 m/s,
      LOS rate: 0.030174 deg/s,
      cmd heading: 322.405365 deg,
      new cmd heading: 322.441151 deg.

2025-06-05T16:54:08.581Z,1749142448.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627660 target range: 45.522594 and range: 45.90 m.
2025-06-05T16:54:08.984Z,1749142448.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:08.986Z,1749142448.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.52 m.
2025-06-05T16:54:08.993Z,1749142448.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.522594 m,
      nav range: 43.491707 m,
      bearing: 335.827626 deg,
      approach rate: -0.592283 m/s,
      LOS rate: 0.020098 deg/s,
      cmd heading: 322.441155 deg,
      new cmd heading: 322.466112 deg.

2025-06-05T16:54:08.994Z,1749142448.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.628095 target range: 45.522594 and range: 45.90 m.
2025-06-05T16:54:09.059Z,1749142449.059 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:54:09.059Z,1749142449.059 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:54:09.059Z,1749142449.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:54:09.311Z,1749142449.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242288
2025-06-05T16:54:09.368Z,1749142449.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.52 m.
2025-06-05T16:54:09.376Z,1749142449.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.522594 m,
      nav range: 43.277203 m,
      bearing: 335.834414 deg,
      approach rate: -0.560760 m/s,
      LOS rate: 0.017834 deg/s,
      cmd heading: 322.466099 deg,
      new cmd heading: 322.486564 deg.

2025-06-05T16:54:09.376Z,1749142449.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.628452 target range: 45.522594 and range: 45.90 m.
2025-06-05T16:54:09.565Z,1749142449.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496104
2025-06-05T16:54:09.742Z,1749142449.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.52 m.
2025-06-05T16:54:09.750Z,1749142449.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.522594 m,
      nav range: 43.042889 m,
      bearing: 335.841620 deg,
      approach rate: -0.627276 m/s,
      LOS rate: 0.019396 deg/s,
      cmd heading: 322.486562 deg,
      new cmd heading: 322.508298 deg.

2025-06-05T16:54:09.751Z,1749142449.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.628832 target range: 45.522594 and range: 45.90 m.
2025-06-05T16:54:09.815Z,1749142449.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746424
2025-06-05T16:54:10.067Z,1749142450.067 [DAT](INFO): DAT read: Rx Time:16:54:08.6190

2025-06-05T16:54:10.068Z,1749142450.068 [DAT](INFO): Rx dataTimestamp_ set to:1749142450.067447
2025-06-05T16:54:10.068Z,1749142450.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999414
2025-06-05T16:54:10.187Z,1749142450.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.52 m.
2025-06-05T16:54:10.190Z,1749142450.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.522594 m,
      nav range: 42.790974 m,
      bearing: 335.834367 deg,
      approach rate: -0.565904 m/s,
      LOS rate: -0.016389 deg/s,
      cmd heading: 322.508309 deg,
      new cmd heading: 322.486423 deg.

2025-06-05T16:54:10.191Z,1749142450.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.628450 target range: 45.522594 and range: 45.90 m.
2025-06-05T16:54:10.319Z,1749142450.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250380
2025-06-05T16:54:10.577Z,1749142450.577 [DAT](INFO): DAT read: 16:54:08.6190 LVL= 24048, 32481, 22002, 32755, AGC= 64, IDX= 417,-0.01,-1.162,-2.501,-1.465,-1.678, PHS= 0.604,-0.776, 0.211, RAW= 133.9,  -0.6, CAL= 139.4,  -9.7, ROT=  10.6,   9.7

2025-06-05T16:54:10.578Z,1749142450.578 [DAT](INFO): got valid direction response:
 16:54:08.6190 LVL= 24048, 32481, 22002, 32755, AGC= 64, IDX= 417,-0.01,-1.162,-2.501,-1.465,-1.678, PHS= 0.604,-0.776, 0.211, RAW= 133.9,  -0.6, CAL= 139.4,  -9.7, ROT=  10.6,   9.7

2025-06-05T16:54:10.579Z,1749142450.579 [DAT](INFO): DAT read: Bearing  10.6,   9.7 (Local)

2025-06-05T16:54:10.579Z,1749142450.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.6,   9.7 (Local)

2025-06-05T16:54:10.583Z,1749142450.583 [DAT](INFO): DAT read: Range 10 to 50 : 43.7 m  (Round-trip  58.3 ms) speed  0.4 m/s

2025-06-05T16:54:10.583Z,1749142450.583 [DAT](INFO): DAT read: user:2475>

2025-06-05T16:54:10.584Z,1749142450.584 [DAT](INFO): DAT read: Tx time:16:54:09.7066

2025-06-05T16:54:10.584Z,1749142450.584 [DAT](INFO): Ping request sent.
2025-06-05T16:54:10.584Z,1749142450.584 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:54:10.585Z,1749142450.585 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:54:10.586Z,1749142450.586 [DAT](INFO): direction in FSK: [0.968883,0.181321,-0.168489]
2025-06-05T16:54:10.586Z,1749142450.586 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:10.586Z,1749142450.586 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:10.589Z,1749142450.589 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:10.589Z,1749142450.589 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:10.645Z,1749142450.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.700001 m,
      deltaT: 3.527920 s,
      deltaX: -2.200001 m,
      approachRate: -0.623597 m/s,
      rangeRepo size: 4

2025-06-05T16:54:10.651Z,1749142450.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.340294 m,
      bearing: 335.978129 deg,
      lat: 36.906295 deg,
      lon: -122.115871 deg,
      deltaT: 3.527920 s,
      deltaX: -2.182301 m,
      approachRate: -0.618580 m/s,
      posRepo size: 4

2025-06-05T16:54:10.652Z,1749142450.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.34 m.
2025-06-05T16:54:10.663Z,1749142450.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.340294 m,
      nav range: 42.772293 m,
      bearing: 335.976298 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016389 deg/s,
      cmd heading: 322.486425 deg,
      new cmd heading: 322.463955 deg.

2025-06-05T16:54:10.665Z,1749142450.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.628058 target range: 43.340294 and range: 43.70 m.
2025-06-05T16:54:10.823Z,1749142450.823 [DAT](INFO): DAT read: TxSync time:16:54:09.7058

2025-06-05T16:54:11.085Z,1749142451.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:11.091Z,1749142451.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.34 m.
2025-06-05T16:54:11.098Z,1749142451.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.340294 m,
      nav range: 42.482204 m,
      bearing: 335.962226 deg,
      approach rate: -0.648763 m/s,
      LOS rate: -0.031686 deg/s,
      cmd heading: 322.463968 deg,
      new cmd heading: 322.421464 deg.

2025-06-05T16:54:11.100Z,1749142451.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627316 target range: 43.340294 and range: 43.70 m.
2025-06-05T16:54:11.328Z,1749142451.328 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:54:11.328Z,1749142451.328 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:54:11.328Z,1749142451.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:54:11.424Z,1749142451.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.34 m.
2025-06-05T16:54:11.427Z,1749142451.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.340294 m,
      nav range: 42.291481 m,
      bearing: 335.952717 deg,
      approach rate: -0.573082 m/s,
      LOS rate: -0.028701 deg/s,
      cmd heading: 322.421457 deg,
      new cmd heading: 322.392801 deg.

2025-06-05T16:54:11.428Z,1749142451.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.626816 target range: 43.340294 and range: 43.70 m.
2025-06-05T16:54:11.579Z,1749142451.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994886
2025-06-05T16:54:11.792Z,1749142451.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.34 m.
2025-06-05T16:54:11.795Z,1749142451.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.340294 m,
      nav range: 42.069748 m,
      bearing: 335.941682 deg,
      approach rate: -0.603227 m/s,
      LOS rate: -0.030177 deg/s,
      cmd heading: 322.392797 deg,
      new cmd heading: 322.359520 deg.

2025-06-05T16:54:11.796Z,1749142451.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.626235 target range: 43.340294 and range: 43.70 m.
2025-06-05T16:54:11.833Z,1749142451.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248326
2025-06-05T16:54:12.083Z,1749142452.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498613
2025-06-05T16:54:12.216Z,1749142452.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.34 m.
2025-06-05T16:54:12.219Z,1749142452.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.340294 m,
      nav range: 41.816730 m,
      bearing: 335.926212 deg,
      approach rate: -0.595736 m/s,
      LOS rate: -0.036646 deg/s,
      cmd heading: 322.359521 deg,
      new cmd heading: 322.312828 deg.

2025-06-05T16:54:12.220Z,1749142452.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625420 target range: 43.340294 and range: 43.70 m.
2025-06-05T16:54:12.335Z,1749142452.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750869
2025-06-05T16:54:12.587Z,1749142452.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002811
2025-06-05T16:54:12.619Z,1749142452.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.34 m.
2025-06-05T16:54:12.623Z,1749142452.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.340294 m,
      nav range: 41.575054 m,
      bearing: 335.910904 deg,
      approach rate: -0.599451 m/s,
      LOS rate: -0.038190 deg/s,
      cmd heading: 322.312829 deg,
      new cmd heading: 322.266639 deg.

2025-06-05T16:54:12.624Z,1749142452.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624614 target range: 43.340294 and range: 43.70 m.
2025-06-05T16:54:12.841Z,1749142452.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256168
2025-06-05T16:54:13.091Z,1749142453.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506702
2025-06-05T16:54:13.185Z,1749142453.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:13.187Z,1749142453.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.34 m.
2025-06-05T16:54:13.190Z,1749142453.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.340294 m,
      nav range: 41.234734 m,
      bearing: 335.879575 deg,
      approach rate: -0.599165 m/s,
      LOS rate: -0.055614 deg/s,
      cmd heading: 322.266630 deg,
      new cmd heading: 322.171866 deg.

2025-06-05T16:54:13.191Z,1749142453.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622960 target range: 43.340294 and range: 43.70 m.
2025-06-05T16:54:13.343Z,1749142453.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758748
2025-06-05T16:54:13.595Z,1749142453.595 [DAT](INFO): DAT read: Rx Time:16:54:12.1664

2025-06-05T16:54:13.596Z,1749142453.596 [DAT](INFO): Rx dataTimestamp_ set to:1749142453.595364
2025-06-05T16:54:13.596Z,1749142453.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011797
2025-06-05T16:54:13.610Z,1749142453.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.34 m.
2025-06-05T16:54:13.613Z,1749142453.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.340294 m,
      nav range: 40.979816 m,
      bearing: 335.856199 deg,
      approach rate: -0.603689 m/s,
      LOS rate: -0.055702 deg/s,
      cmd heading: 322.171854 deg,
      new cmd heading: 322.101291 deg.

2025-06-05T16:54:13.636Z,1749142453.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.621728 target range: 43.340294 and range: 43.70 m.
2025-06-05T16:54:13.850Z,1749142453.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264747
2025-06-05T16:54:14.105Z,1749142454.105 [DAT](INFO): DAT read: 16:54:12.1664 LVL= 23200, 28001, 19426, 31955, AGC= 63, IDX= 421, 0.31, 2.390, 0.963, 2.102, 1.794, PHS= 0.684,-0.783, 0.305, RAW= 135.6,  -3.1, CAL= 141.0, -12.9, ROT=   9.0,  12.9

2025-06-05T16:54:14.106Z,1749142454.106 [DAT](INFO): got valid direction response:
 16:54:12.1664 LVL= 23200, 28001, 19426, 31955, AGC= 63, IDX= 421, 0.31, 2.390, 0.963, 2.102, 1.794, PHS= 0.684,-0.783, 0.305, RAW= 135.6,  -3.1, CAL= 141.0, -12.9, ROT=   9.0,  12.9

2025-06-05T16:54:14.107Z,1749142454.107 [DAT](INFO): DAT read: Bearing   9.0,  12.9 (Local)

2025-06-05T16:54:14.107Z,1749142454.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.0,  12.9 (Local)

2025-06-05T16:54:14.108Z,1749142454.108 [DAT](INFO): DAT read: Range 10 to 50 : 41.7 m  (Round-trip  55.6 ms) speed  0.5 m/s

2025-06-05T16:54:14.109Z,1749142454.109 [DAT](INFO): DAT read: user:2476>

2025-06-05T16:54:14.110Z,1749142454.110 [DAT](INFO): DAT read: Tx time:16:54:13.2566

2025-06-05T16:54:14.110Z,1749142454.110 [DAT](INFO): Ping request sent.
2025-06-05T16:54:14.110Z,1749142454.110 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:54:14.111Z,1749142454.111 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:54:14.112Z,1749142454.112 [DAT](INFO): direction in FSK: [0.962760,0.152486,-0.223250]
2025-06-05T16:54:14.112Z,1749142454.112 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:14.112Z,1749142454.112 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:14.117Z,1749142454.117 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:14.117Z,1749142454.117 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:14.144Z,1749142454.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.700001 m,
      deltaT: 3.528039 s,
      deltaX: -2.000000 m,
      approachRate: -0.566887 m/s,
      rangeRepo size: 4

2025-06-05T16:54:14.150Z,1749142454.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.355503 m,
      bearing: 334.504524 deg,
      lat: 36.906292 deg,
      lon: -122.115871 deg,
      deltaT: 3.528039 s,
      deltaX: -1.984791 m,
      approachRate: -0.562576 m/s,
      posRepo size: 4

2025-06-05T16:54:14.151Z,1749142454.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T16:54:14.163Z,1749142454.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.355503 m,
      nav range: 40.480324 m,
      bearing: 335.678640 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.055702 deg/s,
      cmd heading: 322.101285 deg,
      new cmd heading: 322.012075 deg.

2025-06-05T16:54:14.170Z,1749142454.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620171 target range: 41.355503 and range: 41.70 m.
2025-06-05T16:54:14.351Z,1749142454.351 [DAT](INFO): DAT read: TxSync time:16:54:13.2558

2025-06-05T16:54:14.563Z,1749142454.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T16:54:14.572Z,1749142454.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.355503 m,
      nav range: 40.200024 m,
      bearing: 335.658772 deg,
      approach rate: -0.675616 m/s,
      LOS rate: -0.048222 deg/s,
      cmd heading: 322.012082 deg,
      new cmd heading: 321.952063 deg.

2025-06-05T16:54:14.573Z,1749142454.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619123 target range: 41.355503 and range: 41.70 m.
2025-06-05T16:54:14.936Z,1749142454.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T16:54:14.960Z,1749142454.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.355503 m,
      nav range: 39.973038 m,
      bearing: 335.643239 deg,
      approach rate: -0.602577 m/s,
      LOS rate: -0.041470 deg/s,
      cmd heading: 321.952059 deg,
      new cmd heading: 321.905195 deg.

2025-06-05T16:54:14.968Z,1749142454.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618306 target range: 41.355503 and range: 41.70 m.
2025-06-05T16:54:15.355Z,1749142455.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:15.357Z,1749142455.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T16:54:15.359Z,1749142455.359 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:54:15.360Z,1749142455.360 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:54:15.360Z,1749142455.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:54:15.366Z,1749142455.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.355503 m,
      nav range: 39.686111 m,
      bearing: 335.626479 deg,
      approach rate: -0.680030 m/s,
      LOS rate: -0.040009 deg/s,
      cmd heading: 321.905204 deg,
      new cmd heading: 321.854561 deg.

2025-06-05T16:54:15.367Z,1749142455.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617422 target range: 41.355503 and range: 41.70 m.
2025-06-05T16:54:15.611Z,1749142455.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500874
2025-06-05T16:54:15.741Z,1749142455.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T16:54:15.749Z,1749142455.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.355503 m,
      nav range: 39.453213 m,
      bearing: 335.612992 deg,
      approach rate: -0.606907 m/s,
      LOS rate: -0.035353 deg/s,
      cmd heading: 321.854551 deg,
      new cmd heading: 321.813851 deg.

2025-06-05T16:54:15.755Z,1749142455.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616711 target range: 41.355503 and range: 41.70 m.
2025-06-05T16:54:15.863Z,1749142455.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752860
2025-06-05T16:54:16.116Z,1749142456.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005998
2025-06-05T16:54:16.152Z,1749142456.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T16:54:16.155Z,1749142456.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.355503 m,
      nav range: 39.180561 m,
      bearing: 335.604607 deg,
      approach rate: -0.662345 m/s,
      LOS rate: -0.020512 deg/s,
      cmd heading: 321.813843 deg,
      new cmd heading: 321.788512 deg.

2025-06-05T16:54:16.156Z,1749142456.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616269 target range: 41.355503 and range: 41.70 m.
2025-06-05T16:54:16.370Z,1749142456.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259643
2025-06-05T16:54:16.560Z,1749142456.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T16:54:16.567Z,1749142456.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.355503 m,
      nav range: 38.930988 m,
      bearing: 335.596962 deg,
      approach rate: -0.611867 m/s,
      LOS rate: -0.018863 deg/s,
      cmd heading: 321.788517 deg,
      new cmd heading: 321.765435 deg.

2025-06-05T16:54:16.568Z,1749142456.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615866 target range: 41.355503 and range: 41.70 m.
2025-06-05T16:54:16.621Z,1749142456.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509840
2025-06-05T16:54:16.871Z,1749142456.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760852
2025-06-05T16:54:17.033Z,1749142457.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T16:54:17.041Z,1749142457.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.355503 m,
      nav range: 38.661140 m,
      bearing: 335.588576 deg,
      approach rate: -0.584170 m/s,
      LOS rate: -0.018280 deg/s,
      cmd heading: 321.765431 deg,
      new cmd heading: 321.740098 deg.

2025-06-05T16:54:17.041Z,1749142457.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615424 target range: 41.355503 and range: 41.70 m.
2025-06-05T16:54:17.124Z,1749142457.124 [DAT](INFO): DAT read: Rx Time:16:54:15.7135

2025-06-05T16:54:17.125Z,1749142457.125 [DAT](INFO): Rx dataTimestamp_ set to:1749142457.124241
2025-06-05T16:54:17.126Z,1749142457.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015088
2025-06-05T16:54:17.375Z,1749142457.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265003
2025-06-05T16:54:17.382Z,1749142457.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:17.384Z,1749142457.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T16:54:17.388Z,1749142457.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.355503 m,
      nav range: 38.401508 m,
      bearing: 335.580584 deg,
      approach rate: -0.717133 m/s,
      LOS rate: -0.022223 deg/s,
      cmd heading: 321.740104 deg,
      new cmd heading: 321.715968 deg.

2025-06-05T16:54:17.388Z,1749142457.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615003 target range: 41.355503 and range: 41.70 m.
2025-06-05T16:54:17.635Z,1749142457.635 [DAT](INFO): DAT read: 16:54:15.7135 LVL= 24000, 30641, 23698, 32755, AGC= 64, IDX= 408, 0.38,-1.896, 3.064,-2.176,-2.389, PHS= 0.581,-0.783, 0.210, RAW= 134.7,  -0.1, CAL= 140.0,  -9.1, ROT=  10.0,   9.1

2025-06-05T16:54:17.636Z,1749142457.636 [DAT](INFO): got valid direction response:
 16:54:15.7135 LVL= 24000, 30641, 23698, 32755, AGC= 64, IDX= 408, 0.38,-1.896, 3.064,-2.176,-2.389, PHS= 0.581,-0.783, 0.210, RAW= 134.7,  -0.1, CAL= 140.0,  -9.1, ROT=  10.0,   9.1

2025-06-05T16:54:17.638Z,1749142457.638 [DAT](INFO): DAT read: Bearing  10.0,   9.1 (Local)

2025-06-05T16:54:17.648Z,1749142457.648 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.0,   9.1 (Local)

2025-06-05T16:54:17.655Z,1749142457.655 [DAT](INFO): DAT read: Range 10 to 50 : 39.6 m  (Round-trip  52.8 ms) speed  0.8 m/s

2025-06-05T16:54:17.655Z,1749142457.655 [DAT](INFO): DAT read: user:2477>

2025-06-05T16:54:17.656Z,1749142457.656 [DAT](INFO): DAT read: Tx time:16:54:16.8066

2025-06-05T16:54:17.657Z,1749142457.657 [DAT](INFO): Ping request sent.
2025-06-05T16:54:17.657Z,1749142457.657 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:54:17.657Z,1749142457.657 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:54:17.668Z,1749142457.668 [DAT](INFO): direction in FSK: [0.972413,0.171463,-0.158158]
2025-06-05T16:54:17.668Z,1749142457.668 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:17.669Z,1749142457.669 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:17.696Z,1749142457.696 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:17.696Z,1749142457.696 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:17.832Z,1749142457.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.599998 m,
      deltaT: 3.528341 s,
      deltaX: -2.100002 m,
      approachRate: -0.595181 m/s,
      rangeRepo size: 4

2025-06-05T16:54:17.834Z,1749142457.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.271679 m,
      bearing: 334.789194 deg,
      lat: 36.906295 deg,
      lon: -122.115876 deg,
      deltaT: 3.528341 s,
      deltaX: -2.083824 m,
      approachRate: -0.590596 m/s,
      posRepo size: 4

2025-06-05T16:54:17.839Z,1749142457.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.27 m.
2025-06-05T16:54:17.842Z,1749142457.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.271679 m,
      nav range: 38.540154 m,
      bearing: 335.094801 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022223 deg/s,
      cmd heading: 321.715980 deg,
      new cmd heading: 321.686550 deg.

2025-06-05T16:54:17.849Z,1749142457.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614490 target range: 39.271679 and range: 39.60 m.
2025-06-05T16:54:17.879Z,1749142457.879 [DAT](INFO): DAT read: TxSync time:16:54:16.8058

2025-06-05T16:54:18.206Z,1749142458.206 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250605085.,   0.0,1491.1,  0
2025-06-05T16:54:18.279Z,1749142458.279 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-05T16:54:18.279Z,1749142458.279 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T16:54:18.279Z,1749142458.279 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-05T16:54:18.283Z,1749142458.283 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.599998 m (mode  2.000000 count ).
2025-06-05T16:54:18.283Z,1749142458.283 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-05T16:54:18.283Z,1749142458.283 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-05T16:54:18.285Z,1749142458.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.27 m.
2025-06-05T16:54:18.288Z,1749142458.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.271679 m,
      nav range: 38.275822 m,
      bearing: 335.083188 deg,
      approach rate: -0.575489 m/s,
      LOS rate: -0.025460 deg/s,
      cmd heading: 321.686556 deg,
      new cmd heading: 321.651473 deg.

2025-06-05T16:54:18.289Z,1749142458.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613877 target range: 39.271679 and range: 39.60 m.
2025-06-05T16:54:18.667Z,1749142458.667 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-05T16:54:18.667Z,1749142458.667 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-05T16:54:18.669Z,1749142458.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.27 m.
2025-06-05T16:54:18.672Z,1749142458.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.271679 m,
      nav range: 38.007328 m,
      bearing: 335.072360 deg,
      approach rate: -0.698500 m/s,
      LOS rate: -0.028368 deg/s,
      cmd heading: 321.651476 deg,
      new cmd heading: 321.618763 deg.

2025-06-05T16:54:18.673Z,1749142458.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613307 target range: 39.271679 and range: 39.60 m.
2025-06-05T16:54:19.077Z,1749142459.077 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-05T16:54:19.077Z,1749142459.077 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-05T16:54:19.083Z,1749142459.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.27 m.
2025-06-05T16:54:19.090Z,1749142459.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.271679 m,
      nav range: 37.749641 m,
      bearing: 335.062042 deg,
      approach rate: -0.622386 m/s,
      LOS rate: -0.025089 deg/s,
      cmd heading: 321.618773 deg,
      new cmd heading: 321.587610 deg.

2025-06-05T16:54:19.091Z,1749142459.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612762 target range: 39.271679 and range: 39.60 m.
2025-06-05T16:54:19.492Z,1749142459.492 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-05T16:54:19.492Z,1749142459.492 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T16:54:19.492Z,1749142459.492 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-05T16:54:19.493Z,1749142459.493 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T16:54:19.493Z,1749142459.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:19.495Z,1749142459.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.27 m.
2025-06-05T16:54:19.500Z,1749142459.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.271679 m,
      nav range: 37.488674 m,
      bearing: 335.054209 deg,
      approach rate: -0.633488 m/s,
      LOS rate: -0.019146 deg/s,
      cmd heading: 321.587600 deg,
      new cmd heading: 321.563938 deg.

2025-06-05T16:54:19.501Z,1749142459.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612350 target range: 39.271679 and range: 39.60 m.
2025-06-05T16:54:19.644Z,1749142459.644 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:54:19.644Z,1749142459.644 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:54:19.644Z,1749142459.644 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:54:19.851Z,1749142459.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.27 m.
2025-06-05T16:54:19.853Z,1749142459.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.271679 m,
      nav range: 37.274117 m,
      bearing: 335.047320 deg,
      approach rate: -0.604693 m/s,
      LOS rate: -0.019527 deg/s,
      cmd heading: 321.563940 deg,
      new cmd heading: 321.543154 deg.

2025-06-05T16:54:19.855Z,1749142459.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611987 target range: 39.271679 and range: 39.60 m.
2025-06-05T16:54:19.895Z,1749142459.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238843
2025-06-05T16:54:20.148Z,1749142460.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491658
2025-06-05T16:54:20.289Z,1749142460.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.27 m.
2025-06-05T16:54:20.296Z,1749142460.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.271679 m,
      nav range: 37.016670 m,
      bearing: 335.036875 deg,
      approach rate: -0.586593 m/s,
      LOS rate: -0.023965 deg/s,
      cmd heading: 321.543149 deg,
      new cmd heading: 321.511595 deg.

2025-06-05T16:54:20.299Z,1749142460.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611436 target range: 39.271679 and range: 39.60 m.
2025-06-05T16:54:20.402Z,1749142460.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744288
2025-06-05T16:54:20.651Z,1749142460.651 [DAT](INFO): DAT read: Rx Time:16:54:19.2604

2025-06-05T16:54:20.652Z,1749142460.652 [DAT](INFO): Rx dataTimestamp_ set to:1749142460.651422
2025-06-05T16:54:20.652Z,1749142460.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995685
2025-06-05T16:54:20.659Z,1749142460.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.27 m.
2025-06-05T16:54:20.662Z,1749142460.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.271679 m,
      nav range: 36.801556 m,
      bearing: 335.027853 deg,
      approach rate: -0.581785 m/s,
      LOS rate: -0.024542 deg/s,
      cmd heading: 321.511594 deg,
      new cmd heading: 321.484370 deg.

2025-06-05T16:54:20.663Z,1749142460.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610961 target range: 39.271679 and range: 39.60 m.
2025-06-05T16:54:20.903Z,1749142460.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246600
2025-06-05T16:54:21.133Z,1749142461.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.27 m.
2025-06-05T16:54:21.136Z,1749142461.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.271679 m,
      nav range: 36.521217 m,
      bearing: 335.012304 deg,
      approach rate: -0.590694 m/s,
      LOS rate: -0.033015 deg/s,
      cmd heading: 321.484382 deg,
      new cmd heading: 321.437376 deg.

2025-06-05T16:54:21.137Z,1749142461.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610140 target range: 39.271679 and range: 39.60 m.
2025-06-05T16:54:21.167Z,1749142461.167 [DAT](INFO): DAT read: 16:54:19.2604 LVL= 24256, 32753, 23234, 32755, AGC= 65, IDX= 409,-0.19, 1.399, 0.017, 1.041, 0.933, PHS= 0.555,-0.869, 0.105, RAW= 132.0,   3.4, CAL= 137.9,  -4.0, ROT=  12.1,   4.0

2025-06-05T16:54:21.170Z,1749142461.170 [DAT](INFO): got valid direction response:
 16:54:19.2604 LVL= 24256, 32753, 23234, 32755, AGC= 65, IDX= 409,-0.19, 1.399, 0.017, 1.041, 0.933, PHS= 0.555,-0.869, 0.105, RAW= 132.0,   3.4, CAL= 137.9,  -4.0, ROT=  12.1,   4.0

2025-06-05T16:54:21.171Z,1749142461.171 [DAT](INFO): DAT read: Bearing  12.1,   4.0 (Local)

2025-06-05T16:54:21.172Z,1749142461.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.1,   4.0 (Local)

2025-06-05T16:54:21.186Z,1749142461.186 [DAT](INFO): DAT read: Range 10 to 50 : 37.2 m  (Round-trip  49.7 ms) speed  0.4 m/s

2025-06-05T16:54:21.187Z,1749142461.187 [DAT](INFO): DAT read: user:2478>

2025-06-05T16:54:21.188Z,1749142461.188 [DAT](INFO): DAT read: Tx time:16:54:20.3566

2025-06-05T16:54:21.188Z,1749142461.188 [DAT](INFO): Ping request sent.
2025-06-05T16:54:21.188Z,1749142461.188 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:54:21.189Z,1749142461.189 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:54:21.199Z,1749142461.199 [DAT](INFO): direction in FSK: [0.975401,0.209108,-0.069756]
2025-06-05T16:54:21.199Z,1749142461.199 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:21.199Z,1749142461.199 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:21.211Z,1749142461.211 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:21.211Z,1749142461.211 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:21.225Z,1749142461.225 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.036578
2025-06-05T16:54:21.408Z,1749142461.408 [DAT](INFO): DAT read: TxSync time:16:54:20.3558

2025-06-05T16:54:21.410Z,1749142461.410 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.221146
2025-06-05T16:54:21.505Z,1749142461.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.200001 m,
      deltaT: 3.528842 s,
      deltaX: -2.399998 m,
      approachRate: -0.680109 m/s,
      rangeRepo size: 4

2025-06-05T16:54:21.516Z,1749142461.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.891457 m,
      bearing: 336.517019 deg,
      lat: 36.906295 deg,
      lon: -122.115876 deg,
      deltaT: 3.528842 s,
      deltaX: -2.380222 m,
      approachRate: -0.674505 m/s,
      posRepo size: 4

2025-06-05T16:54:21.517Z,1749142461.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.89 m.
2025-06-05T16:54:21.535Z,1749142461.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.891457 m,
      nav range: 36.313259 m,
      bearing: 335.002718 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033015 deg/s,
      cmd heading: 321.437363 deg,
      new cmd heading: 321.400596 deg.

2025-06-05T16:54:21.537Z,1749142461.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609499 target range: 36.891457 and range: 37.20 m.
2025-06-05T16:54:21.660Z,1749142461.660 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.471500
2025-06-05T16:54:21.899Z,1749142461.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:21.901Z,1749142461.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.89 m.
2025-06-05T16:54:21.904Z,1749142461.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.891457 m,
      nav range: 36.074257 m,
      bearing: 334.989034 deg,
      approach rate: -0.602578 m/s,
      LOS rate: -0.034730 deg/s,
      cmd heading: 321.400589 deg,
      new cmd heading: 321.359265 deg.

2025-06-05T16:54:21.905Z,1749142461.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608777 target range: 36.891457 and range: 37.20 m.
2025-06-05T16:54:21.911Z,1749142461.911 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.722807
2025-06-05T16:54:22.164Z,1749142462.164 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.974744
2025-06-05T16:54:22.327Z,1749142462.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.89 m.
2025-06-05T16:54:22.335Z,1749142462.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.891457 m,
      nav range: 35.828030 m,
      bearing: 334.972925 deg,
      approach rate: -0.577819 m/s,
      LOS rate: -0.038062 deg/s,
      cmd heading: 321.359253 deg,
      new cmd heading: 321.310595 deg.

2025-06-05T16:54:22.336Z,1749142462.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607928 target range: 36.891457 and range: 37.20 m.
2025-06-05T16:54:22.417Z,1749142462.417 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.228690
2025-06-05T16:54:22.667Z,1749142462.667 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.478797
2025-06-05T16:54:22.691Z,1749142462.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.89 m.
2025-06-05T16:54:22.694Z,1749142462.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.891457 m,
      nav range: 35.619396 m,
      bearing: 334.959019 deg,
      approach rate: -0.573452 m/s,
      LOS rate: -0.038448 deg/s,
      cmd heading: 321.310595 deg,
      new cmd heading: 321.268630 deg.

2025-06-05T16:54:22.695Z,1749142462.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607195 target range: 36.891457 and range: 37.20 m.
2025-06-05T16:54:22.920Z,1749142462.920 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.732053
2025-06-05T16:54:23.169Z,1749142463.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.89 m.
2025-06-05T16:54:23.171Z,1749142463.171 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.982957
2025-06-05T16:54:23.191Z,1749142463.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.891457 m,
      nav range: 35.353558 m,
      bearing: 334.947210 deg,
      approach rate: -0.556556 m/s,
      LOS rate: -0.024909 deg/s,
      cmd heading: 321.268630 deg,
      new cmd heading: 321.232936 deg.

2025-06-05T16:54:23.192Z,1749142463.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606573 target range: 36.891457 and range: 37.20 m.
2025-06-05T16:54:23.424Z,1749142463.424 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.234942
2025-06-05T16:54:23.510Z,1749142463.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.89 m.
2025-06-05T16:54:23.512Z,1749142463.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.891457 m,
      nav range: 35.159809 m,
      bearing: 334.938055 deg,
      approach rate: -0.568764 m/s,
      LOS rate: -0.027022 deg/s,
      cmd heading: 321.232949 deg,
      new cmd heading: 321.205334 deg.

2025-06-05T16:54:23.515Z,1749142463.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606091 target range: 36.891457 and range: 37.20 m.
2025-06-05T16:54:23.675Z,1749142463.675 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.486977
2025-06-05T16:54:23.900Z,1749142463.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:23.918Z,1749142463.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.89 m.
2025-06-05T16:54:23.921Z,1749142463.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.891457 m,
      nav range: 34.940495 m,
      bearing: 334.927393 deg,
      approach rate: -0.558621 m/s,
      LOS rate: -0.027328 deg/s,
      cmd heading: 321.205328 deg,
      new cmd heading: 321.173141 deg.

2025-06-05T16:54:23.923Z,1749142463.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605529 target range: 36.891457 and range: 37.20 m.
2025-06-05T16:54:23.927Z,1749142463.927 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.738877
2025-06-05T16:54:24.179Z,1749142464.179 [DAT](INFO): DAT read: Rx Time:16:54:22.8078

2025-06-05T16:54:24.180Z,1749142464.180 [DAT](INFO): Rx dataTimestamp_ set to:1749142464.179283
2025-06-05T16:54:24.181Z,1749142464.181 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.992566
2025-06-05T16:54:24.341Z,1749142464.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.89 m.
2025-06-05T16:54:24.355Z,1749142464.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.891457 m,
      nav range: 34.685883 m,
      bearing: 334.920207 deg,
      approach rate: -0.580831 m/s,
      LOS rate: -0.016512 deg/s,
      cmd heading: 321.173144 deg,
      new cmd heading: 321.151429 deg.

2025-06-05T16:54:24.356Z,1749142464.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605150 target range: 36.891457 and range: 37.20 m.
2025-06-05T16:54:24.433Z,1749142464.433 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.244338
2025-06-05T16:54:24.689Z,1749142464.689 [DAT](INFO): DAT read: 16:54:22.8079 LVL= 30256, 32753, 26274, 32755, AGC= 64, IDX= 413, 0.33, 2.908, 1.569, 2.588, 2.464, PHS= 0.532,-0.848, 0.120, RAW= 133.1,   3.2, CAL= 138.7,  -4.4, ROT=  11.3,   4.4

2025-06-05T16:54:24.699Z,1749142464.699 [DAT](INFO): got valid direction response:
 16:54:22.8079 LVL= 30256, 32753, 26274, 32755, AGC= 64, IDX= 413, 0.33, 2.908, 1.569, 2.588, 2.464, PHS= 0.532,-0.848, 0.120, RAW= 133.1,   3.2, CAL= 138.7,  -4.4, ROT=  11.3,   4.4

2025-06-05T16:54:24.700Z,1749142464.700 [DAT](INFO): DAT read: Bearing  11.3,   4.4 (Local)

2025-06-05T16:54:24.700Z,1749142464.700 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.3,   4.4 (Local)

2025-06-05T16:54:24.702Z,1749142464.702 [DAT](INFO): DAT read: Range 10 to 50 : 35.2 m  (Round-trip  47.0 ms) speed  0.4 m/s

2025-06-05T16:54:24.703Z,1749142464.703 [DAT](INFO): DAT read: user:2479>

2025-06-05T16:54:24.703Z,1749142464.703 [DAT](INFO): DAT read: Tx time:16:54:23.9067

2025-06-05T16:54:24.704Z,1749142464.704 [DAT](INFO): Ping request sent.
2025-06-05T16:54:24.704Z,1749142464.704 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:54:24.704Z,1749142464.704 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-05T16:54:24.705Z,1749142464.705 [DAT](INFO): direction in FSK: [0.977725,0.195369,-0.076719]
2025-06-05T16:54:24.705Z,1749142464.705 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:24.705Z,1749142464.705 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:24.741Z,1749142464.741 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:24.741Z,1749142464.741 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:24.757Z,1749142464.757 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.053646
2025-06-05T16:54:24.802Z,1749142464.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.200001 m,
      deltaT: 3.526893 s,
      deltaX: -2.000000 m,
      approachRate: -0.567071 m/s,
      rangeRepo size: 4

2025-06-05T16:54:24.804Z,1749142464.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.908138 m,
      bearing: 335.693907 deg,
      lat: 36.906296 deg,
      lon: -122.115872 deg,
      deltaT: 3.526893 s,
      deltaX: -1.983318 m,
      approachRate: -0.562342 m/s,
      posRepo size: 4

2025-06-05T16:54:24.805Z,1749142464.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.91 m.
2025-06-05T16:54:24.808Z,1749142464.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.908138 m,
      nav range: 34.404743 m,
      bearing: 335.472150 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016512 deg/s,
      cmd heading: 321.151424 deg,
      new cmd heading: 321.129385 deg.

2025-06-05T16:54:24.809Z,1749142464.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604765 target range: 34.908138 and range: 35.20 m.
2025-06-05T16:54:24.936Z,1749142464.936 [DAT](INFO): DAT read: TxSync time:16:54:23.9059

2025-06-05T16:54:24.936Z,1749142464.936 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.232754
2025-06-05T16:54:25.187Z,1749142465.187 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.483712
2025-06-05T16:54:25.277Z,1749142465.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.91 m.
2025-06-05T16:54:25.284Z,1749142465.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.908138 m,
      nav range: 34.106693 m,
      bearing: 335.473165 deg,
      approach rate: -0.606075 m/s,
      LOS rate: 0.002081 deg/s,
      cmd heading: 321.129376 deg,
      new cmd heading: 321.132446 deg.

2025-06-05T16:54:25.285Z,1749142465.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604818 target range: 34.908138 and range: 35.20 m.
2025-06-05T16:54:25.439Z,1749142465.439 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.735428
2025-06-05T16:54:25.618Z,1749142465.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.91 m.
2025-06-05T16:54:25.621Z,1749142465.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.908138 m,
      nav range: 33.915981 m,
      bearing: 335.474547 deg,
      approach rate: -0.567269 m/s,
      LOS rate: 0.004134 deg/s,
      cmd heading: 321.132436 deg,
      new cmd heading: 321.136606 deg.

2025-06-05T16:54:25.631Z,1749142465.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604891 target range: 34.908138 and range: 35.20 m.
2025-06-05T16:54:25.691Z,1749142465.691 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.987421
2025-06-05T16:54:25.943Z,1749142465.943 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.239406
2025-06-05T16:54:25.989Z,1749142465.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:25.993Z,1749142465.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.91 m.
2025-06-05T16:54:25.996Z,1749142465.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.908138 m,
      nav range: 33.676430 m,
      bearing: 335.476183 deg,
      approach rate: -0.630188 m/s,
      LOS rate: 0.004336 deg/s,
      cmd heading: 321.136616 deg,
      new cmd heading: 321.141560 deg.

2025-06-05T16:54:25.997Z,1749142465.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604978 target range: 34.908138 and range: 35.20 m.
2025-06-05T16:54:26.195Z,1749142466.195 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.491447
2025-06-05T16:54:26.443Z,1749142466.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.91 m.
2025-06-05T16:54:26.449Z,1749142466.449 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.745124
2025-06-05T16:54:26.450Z,1749142466.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.908138 m,
      nav range: 33.425049 m,
      bearing: 335.477957 deg,
      approach rate: -0.558858 m/s,
      LOS rate: 0.003973 deg/s,
      cmd heading: 321.141561 deg,
      new cmd heading: 321.146923 deg.

2025-06-05T16:54:26.451Z,1749142466.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605071 target range: 34.908138 and range: 35.20 m.
2025-06-05T16:54:26.700Z,1749142466.700 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.996301
2025-06-05T16:54:26.838Z,1749142466.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.91 m.
2025-06-05T16:54:26.845Z,1749142466.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.908138 m,
      nav range: 33.188263 m,
      bearing: 335.479515 deg,
      approach rate: -0.600668 m/s,
      LOS rate: 0.003979 deg/s,
      cmd heading: 321.146916 deg,
      new cmd heading: 321.151622 deg.

2025-06-05T16:54:26.845Z,1749142466.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605153 target range: 34.908138 and range: 35.20 m.
2025-06-05T16:54:26.951Z,1749142466.951 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.247454
2025-06-05T16:54:27.203Z,1749142467.203 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.499457
2025-06-05T16:54:27.246Z,1749142467.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.91 m.
2025-06-05T16:54:27.250Z,1749142467.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.908138 m,
      nav range: 32.924957 m,
      bearing: 335.486849 deg,
      approach rate: -0.645428 m/s,
      LOS rate: 0.018123 deg/s,
      cmd heading: 321.151615 deg,
      new cmd heading: 321.173795 deg.

2025-06-05T16:54:27.251Z,1749142467.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605540 target range: 34.908138 and range: 35.20 m.
2025-06-05T16:54:27.455Z,1749142467.455 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.751428
2025-06-05T16:54:27.622Z,1749142467.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.91 m.
2025-06-05T16:54:27.629Z,1749142467.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.908138 m,
      nav range: 32.699104 m,
      bearing: 335.494247 deg,
      approach rate: -0.600341 m/s,
      LOS rate: 0.019800 deg/s,
      cmd heading: 321.173800 deg,
      new cmd heading: 321.196147 deg.

2025-06-05T16:54:27.630Z,1749142467.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605930 target range: 34.908138 and range: 35.20 m.
2025-06-05T16:54:27.708Z,1749142467.708 [DAT](INFO): DAT read: Rx Time:16:54:26.3551

2025-06-05T16:54:27.709Z,1749142467.709 [DAT](INFO): Rx dataTimestamp_ set to:1749142467.708484
2025-06-05T16:54:27.711Z,1749142467.711 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.006044
2025-06-05T16:54:27.959Z,1749142467.959 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.255344
2025-06-05T16:54:28.045Z,1749142468.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:28.052Z,1749142468.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.91 m.
2025-06-05T16:54:28.059Z,1749142468.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.908138 m,
      nav range: 32.433609 m,
      bearing: 335.503823 deg,
      approach rate: -0.616955 m/s,
      LOS rate: 0.022433 deg/s,
      cmd heading: 321.196148 deg,
      new cmd heading: 321.225109 deg.

2025-06-05T16:54:28.060Z,1749142468.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606436 target range: 34.908138 and range: 35.20 m.
2025-06-05T16:54:28.222Z,1749142468.222 [DAT](INFO): DAT read: 16:54:26.3551 LVL= 32352, 32753, 28242, 32755, AGC= 64, IDX= 418,-0.16,-1.510,-2.871,-1.831,-1.845, PHS= 0.423,-0.979, 0.011, RAW= 133.4,   8.8, CAL= 138.6,   2.6, ROT=  11.4,  -2.6

2025-06-05T16:54:28.223Z,1749142468.223 [DAT](INFO): got valid direction response:
 16:54:26.3551 LVL= 32352, 32753, 28242, 32755, AGC= 64, IDX= 418,-0.16,-1.510,-2.871,-1.831,-1.845, PHS= 0.423,-0.979, 0.011, RAW= 133.4,   8.8, CAL= 138.6,   2.6, ROT=  11.4,  -2.6

2025-06-05T16:54:28.224Z,1749142468.224 [DAT](INFO): DAT read: Bearing  11.4,  -2.6 (Local)

2025-06-05T16:54:28.224Z,1749142468.224 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.4,  -2.6 (Local)

2025-06-05T16:54:28.226Z,1749142468.226 [DAT](INFO): DAT read: Range 10 to 50 : 33.2 m  (Round-trip  44.3 ms) speed  0.7 m/s

2025-06-05T16:54:28.227Z,1749142468.227 [DAT](INFO): DAT read: user:2480>

2025-06-05T16:54:28.227Z,1749142468.227 [DAT](INFO): DAT read: Tx time:16:54:27.4567

2025-06-05T16:54:28.228Z,1749142468.228 [DAT](INFO): Ping request sent.
2025-06-05T16:54:28.228Z,1749142468.228 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:54:28.228Z,1749142468.228 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-05T16:54:28.229Z,1749142468.229 [DAT](INFO): direction in FSK: [0.979262,0.197454,0.045363]
2025-06-05T16:54:28.229Z,1749142468.229 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:28.230Z,1749142468.230 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:28.243Z,1749142468.243 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:28.243Z,1749142468.243 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:28.246Z,1749142468.246 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.018061
2025-06-05T16:54:28.464Z,1749142468.464 [DAT](INFO): DAT read: TxSync time:16:54:27.4559

2025-06-05T16:54:28.466Z,1749142468.466 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.237845
2025-06-05T16:54:28.592Z,1749142468.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.200001 m,
      deltaT: 3.529781 s,
      deltaX: -2.000000 m,
      approachRate: -0.566607 m/s,
      rangeRepo size: 4

2025-06-05T16:54:28.603Z,1749142468.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.925407 m,
      bearing: 334.668536 deg,
      lat: 36.906299 deg,
      lon: -122.115879 deg,
      deltaT: 3.529781 s,
      deltaX: -1.982731 m,
      approachRate: -0.561715 m/s,
      posRepo size: 4

2025-06-05T16:54:28.604Z,1749142468.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.93 m.
2025-06-05T16:54:28.616Z,1749142468.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.925407 m,
      nav range: 32.662056 m,
      bearing: 334.873452 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022433 deg/s,
      cmd heading: 321.225108 deg,
      new cmd heading: 321.261396 deg.

2025-06-05T16:54:28.617Z,1749142468.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607069 target range: 32.925407 and range: 33.20 m.
2025-06-05T16:54:28.717Z,1749142468.717 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.488758
2025-06-05T16:54:28.940Z,1749142468.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.93 m.
2025-06-05T16:54:28.943Z,1749142468.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.925407 m,
      nav range: 32.411621 m,
      bearing: 334.879226 deg,
      approach rate: -0.717252 m/s,
      LOS rate: 0.016665 deg/s,
      cmd heading: 321.261390 deg,
      new cmd heading: 321.278846 deg.

2025-06-05T16:54:28.944Z,1749142468.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607374 target range: 32.925407 and range: 33.20 m.
2025-06-05T16:54:28.967Z,1749142468.967 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.739683
2025-06-05T16:54:29.221Z,1749142469.221 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.992813
2025-06-05T16:54:29.380Z,1749142469.380 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060508554541,35.0, +10.3,491.1,  0
2025-06-05T16:54:29.421Z,1749142469.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.93 m.
2025-06-05T16:54:29.428Z,1749142469.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.925407 m,
      nav range: 32.121010 m,
      bearing: 334.886942 deg,
      approach rate: -0.604482 m/s,
      LOS rate: 0.016195 deg/s,
      cmd heading: 321.278848 deg,
      new cmd heading: 321.302206 deg.

2025-06-05T16:54:29.429Z,1749142469.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607781 target range: 32.925407 and range: 33.20 m.
2025-06-05T16:54:29.471Z,1749142469.471 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.243431
2025-06-05T16:54:29.723Z,1749142469.723 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.495247
2025-06-05T16:54:29.816Z,1749142469.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.93 m.
2025-06-05T16:54:29.823Z,1749142469.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.925407 m,
      nav range: 31.888365 m,
      bearing: 334.894085 deg,
      approach rate: -0.589091 m/s,
      LOS rate: 0.018218 deg/s,
      cmd heading: 321.302207 deg,
      new cmd heading: 321.323791 deg.

2025-06-05T16:54:29.824Z,1749142469.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608158 target range: 32.925407 and range: 33.20 m.
2025-06-05T16:54:29.975Z,1749142469.975 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.747610
2025-06-05T16:54:30.229Z,1749142470.229 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.000997
2025-06-05T16:54:30.287Z,1749142470.287 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:54:30.329Z,1749142470.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:30.335Z,1749142470.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.93 m.
2025-06-05T16:54:30.342Z,1749142470.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.925407 m,
      nav range: 31.574520 m,
      bearing: 334.901444 deg,
      approach rate: -0.604519 m/s,
      LOS rate: 0.014315 deg/s,
      cmd heading: 321.323791 deg,
      new cmd heading: 321.346087 deg.

2025-06-05T16:54:30.343Z,1749142470.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608547 target range: 32.925407 and range: 33.20 m.
2025-06-05T16:54:30.482Z,1749142470.482 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.254204
2025-06-05T16:54:30.665Z,1749142470.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.93 m.
2025-06-05T16:54:30.671Z,1749142470.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.925407 m,
      nav range: 31.375032 m,
      bearing: 334.906394 deg,
      approach rate: -0.609940 m/s,
      LOS rate: 0.015232 deg/s,
      cmd heading: 321.346084 deg,
      new cmd heading: 321.361030 deg.

2025-06-05T16:54:30.672Z,1749142470.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608808 target range: 32.925407 and range: 33.20 m.
2025-06-05T16:54:30.733Z,1749142470.733 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.504909
2025-06-05T16:54:30.983Z,1749142470.983 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.755286
2025-06-05T16:54:31.070Z,1749142471.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.93 m.
2025-06-05T16:54:31.089Z,1749142471.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.925407 m,
      nav range: 31.136959 m,
      bearing: 334.912692 deg,
      approach rate: -0.584463 m/s,
      LOS rate: 0.015579 deg/s,
      cmd heading: 321.361029 deg,
      new cmd heading: 321.380067 deg.

2025-06-05T16:54:31.090Z,1749142471.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609140 target range: 32.925407 and range: 33.20 m.
2025-06-05T16:54:31.235Z,1749142471.235 [DAT](INFO): DAT read: Rx Time:16:54:29.9022

2025-06-05T16:54:31.236Z,1749142471.236 [DAT](INFO): Rx dataTimestamp_ set to:1749142471.235330
2025-06-05T16:54:31.236Z,1749142471.236 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.008382
2025-06-05T16:54:31.291Z,1749142471.291 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:54:31.487Z,1749142471.487 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.259441
2025-06-05T16:54:31.537Z,1749142471.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.93 m.
2025-06-05T16:54:31.543Z,1749142471.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.925407 m,
      nav range: 30.864351 m,
      bearing: 334.914666 deg,
      approach rate: -0.583223 m/s,
      LOS rate: 0.004260 deg/s,
      cmd heading: 321.380071 deg,
      new cmd heading: 321.386046 deg.

2025-06-05T16:54:31.545Z,1749142471.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609245 target range: 32.925407 and range: 33.20 m.
2025-06-05T16:54:31.745Z,1749142471.745 [DAT](INFO): DAT read: 16:54:29.9022 LVL= 30672, 32753, 29042, 32755, AGC= 64, IDX= 403, 0.37,-0.578,-1.947,-0.861,-0.963, PHS= 0.473,-0.937, 0.099, RAW= 135.2,   5.8, CAL= 140.2,  -1.2, ROT=   9.8,   1.2

2025-06-05T16:54:31.746Z,1749142471.746 [DAT](INFO): got valid direction response:
 16:54:29.9022 LVL= 30672, 32753, 29042, 32755, AGC= 64, IDX= 403, 0.37,-0.578,-1.947,-0.861,-0.963, PHS= 0.473,-0.937, 0.099, RAW= 135.2,   5.8, CAL= 140.2,  -1.2, ROT=   9.8,   1.2

2025-06-05T16:54:31.748Z,1749142471.748 [DAT](INFO): DAT read: Bearing   9.8,   1.2 (Local)

2025-06-05T16:54:31.749Z,1749142471.749 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.8,   1.2 (Local)

2025-06-05T16:54:31.750Z,1749142471.750 [DAT](INFO): DAT read: Range 10 to 50 : 31.0 m  (Round-trip  41.4 ms) speed  0.6 m/s

2025-06-05T16:54:31.751Z,1749142471.751 [DAT](INFO): DAT read: user:2481>

2025-06-05T16:54:31.752Z,1749142471.752 [DAT](INFO): DAT read: Tx time:16:54:31.0067

2025-06-05T16:54:31.752Z,1749142471.752 [DAT](INFO): Ping request sent.
2025-06-05T16:54:31.752Z,1749142471.752 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:54:31.752Z,1749142471.752 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-05T16:54:31.753Z,1749142471.753 [DAT](INFO): direction in FSK: [0.985192,0.170172,-0.020942]
2025-06-05T16:54:31.754Z,1749142471.754 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:31.755Z,1749142471.755 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:31.784Z,1749142471.784 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:31.784Z,1749142471.784 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:31.801Z,1749142471.801 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.048852
2025-06-05T16:54:31.940Z,1749142471.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.000000 m,
      deltaT: 3.526140 s,
      deltaX: -2.200001 m,
      approachRate: -0.623912 m/s,
      rangeRepo size: 4

2025-06-05T16:54:31.943Z,1749142471.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.744265 m,
      bearing: 332.844760 deg,
      lat: 36.906299 deg,
      lon: -122.115879 deg,
      deltaT: 3.526140 s,
      deltaX: -2.181143 m,
      approachRate: -0.618564 m/s,
      posRepo size: 4

2025-06-05T16:54:31.944Z,1749142471.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.74 m.
2025-06-05T16:54:31.955Z,1749142471.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.744265 m,
      nav range: 30.670355 m,
      bearing: 334.830295 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004260 deg/s,
      cmd heading: 321.386055 deg,
      new cmd heading: 321.391195 deg.

2025-06-05T16:54:31.956Z,1749142471.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609334 target range: 30.744265 and range: 31.00 m.
2025-06-05T16:54:31.991Z,1749142471.991 [DAT](INFO): DAT read: TxSync time:16:54:31.0059

2025-06-05T16:54:31.992Z,1749142471.992 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.239920
2025-06-05T16:54:32.248Z,1749142472.248 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.495771
2025-06-05T16:54:32.412Z,1749142472.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:32.415Z,1749142472.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.74 m.
2025-06-05T16:54:32.418Z,1749142472.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.744265 m,
      nav range: 30.375156 m,
      bearing: 334.830796 deg,
      approach rate: -0.620005 m/s,
      LOS rate: 0.001062 deg/s,
      cmd heading: 321.391191 deg,
      new cmd heading: 321.392707 deg.

2025-06-05T16:54:32.419Z,1749142472.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609361 target range: 30.744265 and range: 31.00 m.
2025-06-05T16:54:32.496Z,1749142472.496 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.744159
2025-06-05T16:54:32.749Z,1749142472.749 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.996803
2025-06-05T16:54:32.838Z,1749142472.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.74 m.
2025-06-05T16:54:32.840Z,1749142472.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.744265 m,
      nav range: 30.132059 m,
      bearing: 334.831998 deg,
      approach rate: -0.575798 m/s,
      LOS rate: 0.002871 deg/s,
      cmd heading: 321.392721 deg,
      new cmd heading: 321.396358 deg.

2025-06-05T16:54:32.841Z,1749142472.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609425 target range: 30.744265 and range: 31.00 m.
2025-06-05T16:54:32.999Z,1749142472.999 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.247140
2025-06-05T16:54:33.251Z,1749142473.251 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.499137
2025-06-05T16:54:33.263Z,1749142473.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.74 m.
2025-06-05T16:54:33.267Z,1749142473.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.744265 m,
      nav range: 29.905327 m,
      bearing: 334.832413 deg,
      approach rate: -0.532574 m/s,
      LOS rate: 0.000982 deg/s,
      cmd heading: 321.396355 deg,
      new cmd heading: 321.397609 deg.

2025-06-05T16:54:33.268Z,1749142473.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609447 target range: 30.744265 and range: 31.00 m.
2025-06-05T16:54:33.503Z,1749142473.503 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.751001
2025-06-05T16:54:33.640Z,1749142473.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.74 m.
2025-06-05T16:54:33.643Z,1749142473.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.744265 m,
      nav range: 29.682749 m,
      bearing: 334.817289 deg,
      approach rate: -0.590545 m/s,
      LOS rate: -0.040428 deg/s,
      cmd heading: 321.397611 deg,
      new cmd heading: 321.351899 deg.

2025-06-05T16:54:33.644Z,1749142473.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608649 target range: 30.744265 and range: 31.00 m.
2025-06-05T16:54:33.755Z,1749142473.755 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.003125
2025-06-05T16:54:34.007Z,1749142474.007 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.254962
2025-06-05T16:54:34.017Z,1749142474.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.74 m.
2025-06-05T16:54:34.024Z,1749142474.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.744265 m,
      nav range: 29.484364 m,
      bearing: 334.802705 deg,
      approach rate: -0.527086 m/s,
      LOS rate: -0.039009 deg/s,
      cmd heading: 321.351904 deg,
      new cmd heading: 321.307857 deg.

2025-06-05T16:54:34.025Z,1749142474.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607880 target range: 30.744265 and range: 31.00 m.
2025-06-05T16:54:34.263Z,1749142474.263 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.510116
2025-06-05T16:54:34.371Z,1749142474.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.74 m.
2025-06-05T16:54:34.374Z,1749142474.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.744265 m,
      nav range: 29.246672 m,
      bearing: 334.786043 deg,
      approach rate: -0.669798 m/s,
      LOS rate: -0.047334 deg/s,
      cmd heading: 321.307863 deg,
      new cmd heading: 321.257471 deg.

2025-06-05T16:54:34.375Z,1749142474.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607001 target range: 30.744265 and range: 31.00 m.
2025-06-05T16:54:34.511Z,1749142474.511 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.759042
2025-06-05T16:54:34.764Z,1749142474.764 [DAT](INFO): DAT read: Rx Time:16:54:33.4496

2025-06-05T16:54:34.765Z,1749142474.765 [DAT](INFO): Rx dataTimestamp_ set to:1749142474.764158
2025-06-05T16:54:34.766Z,1749142474.766 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.013627
2025-06-05T16:54:34.767Z,1749142474.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:34.769Z,1749142474.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.74 m.
2025-06-05T16:54:34.772Z,1749142474.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.744265 m,
      nav range: 29.016518 m,
      bearing: 334.769649 deg,
      approach rate: -0.578735 m/s,
      LOS rate: -0.041550 deg/s,
      cmd heading: 321.257483 deg,
      new cmd heading: 321.207911 deg.

2025-06-05T16:54:34.773Z,1749142474.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606136 target range: 30.744265 and range: 31.00 m.
2025-06-05T16:54:35.017Z,1749142475.017 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.264625
2025-06-05T16:54:35.280Z,1749142475.280 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.527511
2025-06-05T16:54:35.282Z,1749142475.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.74 m.
2025-06-05T16:54:35.289Z,1749142475.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.744265 m,
      nav range: 28.765696 m,
      bearing: 334.751611 deg,
      approach rate: -0.542026 m/s,
      LOS rate: -0.039321 deg/s,
      cmd heading: 321.207923 deg,
      new cmd heading: 321.153336 deg.

2025-06-05T16:54:35.290Z,1749142475.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605183 target range: 30.744265 and range: 31.00 m.
2025-06-05T16:54:35.549Z,1749142475.549 [DAT](INFO): DAT read: 16:54:33.4496 LVL= 26064, 32753, 21906, 32755, AGC= 63, IDX= 409,-0.17,-1.109,-2.586,-1.466,-1.486, PHS= 0.465,-1.052, 0.017, RAW= 133.3,   8.5, CAL= 138.6,   2.3, ROT=  11.4,  -2.3

2025-06-05T16:54:35.550Z,1749142475.550 [DAT](INFO): got valid direction response:
 16:54:33.4496 LVL= 26064, 32753, 21906, 32755, AGC= 63, IDX= 409,-0.17,-1.109,-2.586,-1.466,-1.486, PHS= 0.465,-1.052, 0.017, RAW= 133.3,   8.5, CAL= 138.6,   2.3, ROT=  11.4,  -2.3

2025-06-05T16:54:35.557Z,1749142475.557 [DAT](INFO): DAT read: Bearing  11.4,  -2.3 (Local)

2025-06-05T16:54:35.557Z,1749142475.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.4,  -2.3 (Local)

2025-06-05T16:54:35.559Z,1749142475.559 [DAT](INFO): DAT read: Range 10 to 50 : 29.0 m  (Round-trip  38.7 ms) speed  0.4 m/s

2025-06-05T16:54:35.560Z,1749142475.560 [DAT](INFO): DAT read: user:2482>

2025-06-05T16:54:35.561Z,1749142475.561 [DAT](INFO): DAT read: Tx time:16:54:34.5567

2025-06-05T16:54:35.561Z,1749142475.561 [DAT](INFO): Ping request sent.
2025-06-05T16:54:35.561Z,1749142475.561 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:54:35.561Z,1749142475.561 [DAT](INFO): DAT read: TxSync time:16:54:34.5560

2025-06-05T16:54:35.562Z,1749142475.562 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-05T16:54:35.563Z,1749142475.563 [DAT](INFO): direction in FSK: [0.979481,0.197498,0.040132]
2025-06-05T16:54:35.565Z,1749142475.565 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:35.565Z,1749142475.565 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:35.616Z,1749142475.616 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:35.616Z,1749142475.616 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:35.624Z,1749142475.624 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.062616
2025-06-05T16:54:35.753Z,1749142475.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.000000 m,
      deltaT: 3.793352 s,
      deltaX: -2.000000 m,
      approachRate: -0.527238 m/s,
      rangeRepo size: 4

2025-06-05T16:54:35.759Z,1749142475.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.761145 m,
      bearing: 334.458265 deg,
      lat: 36.906300 deg,
      lon: -122.115881 deg,
      deltaT: 3.793352 s,
      deltaX: -1.983120 m,
      approachRate: -0.522788 m/s,
      posRepo size: 4

2025-06-05T16:54:35.760Z,1749142475.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.76 m.
2025-06-05T16:54:35.767Z,1749142475.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.761145 m,
      nav range: 28.689501 m,
      bearing: 334.589501 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039321 deg/s,
      cmd heading: 321.153336 deg,
      new cmd heading: 321.091947 deg.

2025-06-05T16:54:35.768Z,1749142475.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604112 target range: 28.761145 and range: 29.00 m.
2025-06-05T16:54:35.783Z,1749142475.783 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.222435
2025-06-05T16:54:36.035Z,1749142476.035 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.474140
2025-06-05T16:54:36.105Z,1749142476.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.76 m.
2025-06-05T16:54:36.109Z,1749142476.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.761145 m,
      nav range: 28.470818 m,
      bearing: 334.574446 deg,
      approach rate: -0.619352 m/s,
      LOS rate: -0.042964 deg/s,
      cmd heading: 321.091947 deg,
      new cmd heading: 321.046437 deg.

2025-06-05T16:54:36.116Z,1749142476.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603317 target range: 28.761145 and range: 29.00 m.
2025-06-05T16:54:36.291Z,1749142476.291 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.728715
2025-06-05T16:54:36.496Z,1749142476.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.76 m.
2025-06-05T16:54:36.501Z,1749142476.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.761145 m,
      nav range: 28.230679 m,
      bearing: 334.558529 deg,
      approach rate: -0.614042 m/s,
      LOS rate: -0.041047 deg/s,
      cmd heading: 321.046430 deg,
      new cmd heading: 320.998272 deg.

2025-06-05T16:54:36.502Z,1749142476.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602477 target range: 28.761145 and range: 29.00 m.
2025-06-05T16:54:36.539Z,1749142476.539 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.978413
2025-06-05T16:54:36.792Z,1749142476.792 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.230555
2025-06-05T16:54:36.877Z,1749142476.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:36.879Z,1749142476.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.76 m.
2025-06-05T16:54:36.883Z,1749142476.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.761145 m,
      nav range: 27.996862 m,
      bearing: 334.544137 deg,
      approach rate: -0.611332 m/s,
      LOS rate: -0.037943 deg/s,
      cmd heading: 320.998264 deg,
      new cmd heading: 320.954727 deg.

2025-06-05T16:54:36.884Z,1749142476.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601717 target range: 28.761145 and range: 29.00 m.
2025-06-05T16:54:37.043Z,1749142477.043 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.482284
2025-06-05T16:54:37.299Z,1749142477.299 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.737556
2025-06-05T16:54:37.402Z,1749142477.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.76 m.
2025-06-05T16:54:37.405Z,1749142477.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.761145 m,
      nav range: 27.687271 m,
      bearing: 334.528435 deg,
      approach rate: -0.597354 m/s,
      LOS rate: -0.030636 deg/s,
      cmd heading: 320.954715 deg,
      new cmd heading: 320.907081 deg.

2025-06-05T16:54:37.411Z,1749142477.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600885 target range: 28.761145 and range: 29.00 m.
2025-06-05T16:54:37.549Z,1749142477.549 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.987897
2025-06-05T16:54:37.712Z,1749142477.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.76 m.
2025-06-05T16:54:37.735Z,1749142477.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.761145 m,
      nav range: 27.479742 m,
      bearing: 334.518156 deg,
      approach rate: -0.660061 m/s,
      LOS rate: -0.032940 deg/s,
      cmd heading: 320.907094 deg,
      new cmd heading: 320.876025 deg.

2025-06-05T16:54:37.736Z,1749142477.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600343 target range: 28.761145 and range: 29.00 m.
2025-06-05T16:54:37.800Z,1749142477.800 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.239257
2025-06-05T16:54:38.051Z,1749142478.051 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.490194
2025-06-05T16:54:38.129Z,1749142478.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.76 m.
2025-06-05T16:54:38.144Z,1749142478.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.761145 m,
      nav range: 27.220366 m,
      bearing: 334.505627 deg,
      approach rate: -0.621292 m/s,
      LOS rate: -0.030296 deg/s,
      cmd heading: 320.876031 deg,
      new cmd heading: 320.838087 deg.

2025-06-05T16:54:38.145Z,1749142478.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599681 target range: 28.761145 and range: 29.00 m.
2025-06-05T16:54:38.309Z,1749142478.309 [DAT](INFO): DAT read: Rx Time:16:54:36.9969

2025-06-05T16:54:38.311Z,1749142478.311 [DAT](INFO): Rx dataTimestamp_ set to:1749142478.310185
2025-06-05T16:54:38.313Z,1749142478.313 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.751543
2025-06-05T16:54:38.555Z,1749142478.555 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.994144
2025-06-05T16:54:38.607Z,1749142478.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.76 m.
2025-06-05T16:54:38.615Z,1749142478.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.761145 m,
      nav range: 26.939003 m,
      bearing: 334.491363 deg,
      approach rate: -0.588616 m/s,
      LOS rate: -0.030153 deg/s,
      cmd heading: 320.838082 deg,
      new cmd heading: 320.794843 deg.

2025-06-05T16:54:38.616Z,1749142478.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598926 target range: 28.761145 and range: 29.00 m.
2025-06-05T16:54:38.828Z,1749142478.828 [DAT](INFO): DAT read: 16:54:36.9969 LVL= 29616, 32753, 26370, 32755, AGC= 63, IDX= 413, 0.06,-2.649, 2.235,-2.982,-3.011, PHS= 0.450,-0.991, 0.026, RAW= 133.4,   8.1, CAL= 138.7,   1.8, ROT=  11.3,  -1.8

2025-06-05T16:54:38.829Z,1749142478.829 [DAT](INFO): got valid direction response:
 16:54:36.9969 LVL= 29616, 32753, 26370, 32755, AGC= 63, IDX= 413, 0.06,-2.649, 2.235,-2.982,-3.011, PHS= 0.450,-0.991, 0.026, RAW= 133.4,   8.1, CAL= 138.7,   1.8, ROT=  11.3,  -1.8

2025-06-05T16:54:38.831Z,1749142478.831 [DAT](INFO): DAT read: Bearing  11.3,  -1.8 (Local)

2025-06-05T16:54:38.831Z,1749142478.831 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.3,  -1.8 (Local)

2025-06-05T16:54:38.833Z,1749142478.833 [DAT](INFO): DAT read: Range 10 to 50 : 27.0 m  (Round-trip  36.0 ms) speed  0.7 m/s

2025-06-05T16:54:38.834Z,1749142478.834 [DAT](INFO): DAT read: user:2483>

2025-06-05T16:54:38.835Z,1749142478.835 [DAT](INFO): DAT read: Tx time:16:54:38.1068

2025-06-05T16:54:38.836Z,1749142478.836 [DAT](INFO): Ping request sent.
2025-06-05T16:54:38.836Z,1749142478.836 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:54:38.837Z,1749142478.837 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-05T16:54:38.863Z,1749142478.863 [DAT](INFO): direction in FSK: [0.980131,0.195849,0.031411]
2025-06-05T16:54:38.864Z,1749142478.864 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:38.864Z,1749142478.864 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:38.873Z,1749142478.873 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:38.874Z,1749142478.874 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:38.885Z,1749142478.885 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.049100
2025-06-05T16:54:38.973Z,1749142478.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 3.276200 s,
      deltaX: -2.000000 m,
      approachRate: -0.610463 m/s,
      rangeRepo size: 4

2025-06-05T16:54:38.984Z,1749142478.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.778408 m,
      bearing: 333.589884 deg,
      lat: 36.906299 deg,
      lon: -122.115882 deg,
      deltaT: 3.276200 s,
      deltaX: -1.982737 m,
      approachRate: -0.605194 m/s,
      posRepo size: 4

2025-06-05T16:54:38.985Z,1749142478.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m.
2025-06-05T16:54:38.992Z,1749142478.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.778408 m,
      nav range: 26.639938 m,
      bearing: 334.193073 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030153 deg/s,
      cmd heading: 320.794833 deg,
      new cmd heading: 320.761755 deg.

2025-06-05T16:54:38.993Z,1749142478.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598349 target range: 26.778408 and range: 27.00 m.
2025-06-05T16:54:39.061Z,1749142479.061 [DAT](INFO): DAT read: TxSync time:16:54:38.1060

2025-06-05T16:54:39.062Z,1749142479.062 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.225854
2025-06-05T16:54:39.313Z,1749142479.313 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.476986
2025-06-05T16:54:39.482Z,1749142479.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:39.485Z,1749142479.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m.
2025-06-05T16:54:39.488Z,1749142479.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.778408 m,
      nav range: 26.308382 m,
      bearing: 334.195014 deg,
      approach rate: -0.647895 m/s,
      LOS rate: 0.003840 deg/s,
      cmd heading: 320.761748 deg,
      new cmd heading: 320.767643 deg.

2025-06-05T16:54:39.489Z,1749142479.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598452 target range: 26.778408 and range: 27.00 m.
2025-06-05T16:54:39.563Z,1749142479.563 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.727273
2025-06-05T16:54:39.789Z,1749142479.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m.
2025-06-05T16:54:39.792Z,1749142479.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.778408 m,
      nav range: 26.112448 m,
      bearing: 334.198066 deg,
      approach rate: -0.644114 m/s,
      LOS rate: 0.010109 deg/s,
      cmd heading: 320.767649 deg,
      new cmd heading: 320.776875 deg.

2025-06-05T16:54:39.793Z,1749142479.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598613 target range: 26.778408 and range: 27.00 m.
2025-06-05T16:54:39.816Z,1749142479.816 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.980406
2025-06-05T16:54:40.067Z,1749142480.067 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.231065
2025-06-05T16:54:40.199Z,1749142480.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m.
2025-06-05T16:54:40.202Z,1749142480.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.778408 m,
      nav range: 25.854849 m,
      bearing: 334.204428 deg,
      approach rate: -0.629246 m/s,
      LOS rate: 0.015696 deg/s,
      cmd heading: 320.776884 deg,
      new cmd heading: 320.796161 deg.

2025-06-05T16:54:40.219Z,1749142480.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598949 target range: 26.778408 and range: 27.00 m.
2025-06-05T16:54:40.323Z,1749142480.323 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.486801
2025-06-05T16:54:40.571Z,1749142480.571 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.735293
2025-06-05T16:54:40.649Z,1749142480.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m.
2025-06-05T16:54:40.657Z,1749142480.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.778408 m,
      nav range: 25.590302 m,
      bearing: 334.217001 deg,
      approach rate: -0.586275 m/s,
      LOS rate: 0.028151 deg/s,
      cmd heading: 320.796172 deg,
      new cmd heading: 320.834281 deg.

2025-06-05T16:54:40.658Z,1749142480.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599615 target range: 26.778408 and range: 27.00 m.
2025-06-05T16:54:40.823Z,1749142480.823 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.987240
2025-06-05T16:54:40.994Z,1749142480.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m.
2025-06-05T16:54:40.996Z,1749142480.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.778408 m,
      nav range: 25.366510 m,
      bearing: 334.227779 deg,
      approach rate: -0.650185 m/s,
      LOS rate: 0.031589 deg/s,
      cmd heading: 320.834285 deg,
      new cmd heading: 320.866903 deg.

2025-06-05T16:54:40.000Z,1749142481.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600184 target range: 26.778408 and range: 27.00 m.
2025-06-05T16:54:41.075Z,1749142481.075 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.239358
2025-06-05T16:54:41.333Z,1749142481.333 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.496649
2025-06-05T16:54:41.479Z,1749142481.479 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3768,V
2025-06-05T16:54:41.494Z,1749142481.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:41.512Z,1749142481.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m.
2025-06-05T16:54:41.516Z,1749142481.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.778408 m,
      nav range: 25.058271 m,
      bearing: 334.242939 deg,
      approach rate: -0.594451 m/s,
      LOS rate: 0.029596 deg/s,
      cmd heading: 320.866906 deg,
      new cmd heading: 320.912945 deg.

2025-06-05T16:54:41.526Z,1749142481.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600987 target range: 26.778408 and range: 27.00 m.
2025-06-05T16:54:41.579Z,1749142481.579 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.743252
2025-06-05T16:54:41.833Z,1749142481.833 [DAT](INFO): DAT read: Rx Time:16:54:40.5439

2025-06-05T16:54:41.833Z,1749142481.833 [DAT](INFO): Rx dataTimestamp_ set to:1749142481.832733
2025-06-05T16:54:41.834Z,1749142481.834 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.997624
2025-06-05T16:54:41.978Z,1749142481.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m.
2025-06-05T16:54:41.983Z,1749142481.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.778408 m,
      nav range: 24.763063 m,
      bearing: 334.257812 deg,
      approach rate: -0.633316 m/s,
      LOS rate: 0.032288 deg/s,
      cmd heading: 320.912941 deg,
      new cmd heading: 320.958092 deg.

2025-06-05T16:54:41.984Z,1749142481.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601776 target range: 26.778408 and range: 27.00 m.
2025-06-05T16:54:42.083Z,1749142482.083 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.247511
2025-06-05T16:54:42.339Z,1749142482.339 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.502586
2025-06-05T16:54:42.492Z,1749142482.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m.
2025-06-05T16:54:42.499Z,1749142482.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.778408 m,
      nav range: 24.472797 m,
      bearing: 334.278476 deg,
      approach rate: -0.565004 m/s,
      LOS rate: 0.040700 deg/s,
      cmd heading: 320.958102 deg,
      new cmd heading: 321.020831 deg.

2025-06-05T16:54:42.500Z,1749142482.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602870 target range: 26.778408 and range: 27.00 m.
2025-06-05T16:54:42.601Z,1749142482.601 [DAT](INFO): DAT read: 16:54:40.5439 LVL= 32752, 32753, 26594, 32755, AGC= 63, IDX= 414, 0.05,-0.634,-2.038,-0.969,-0.949, PHS= 0.403,-1.042,-0.023, RAW= 133.3,  10.3, CAL= 138.4,   4.4, ROT=  11.6,  -4.4

2025-06-05T16:54:42.603Z,1749142482.603 [DAT](INFO): got valid direction response:
 16:54:40.5439 LVL= 32752, 32753, 26594, 32755, AGC= 63, IDX= 414, 0.05,-0.634,-2.038,-0.969,-0.949, PHS= 0.403,-1.042,-0.023, RAW= 133.3,  10.3, CAL= 138.4,   4.4, ROT=  11.6,  -4.4

2025-06-05T16:54:42.605Z,1749142482.605 [DAT](INFO): DAT read: Bearing  11.6,  -4.4 (Local)

2025-06-05T16:54:42.605Z,1749142482.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.6,  -4.4 (Local)

2025-06-05T16:54:42.611Z,1749142482.611 [DAT](INFO): DAT read: Range 10 to 50 : 24.7 m  (Round-trip  33.0 ms) speed  0.5 m/s

2025-06-05T16:54:42.612Z,1749142482.612 [DAT](INFO): DAT read: user:2484>

2025-06-05T16:54:42.613Z,1749142482.613 [DAT](INFO): DAT read: Tx time:16:54:41.6568

2025-06-05T16:54:42.613Z,1749142482.613 [DAT](INFO): Ping request sent.
2025-06-05T16:54:42.613Z,1749142482.613 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:54:42.619Z,1749142482.619 [DAT](INFO): DAT read: TxSync time:16:54:41.6560

2025-06-05T16:54:42.620Z,1749142482.620 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-05T16:54:42.621Z,1749142482.621 [DAT](INFO): direction in FSK: [0.976688,0.200485,0.076719]
2025-06-05T16:54:42.621Z,1749142482.621 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:42.621Z,1749142482.621 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:42.639Z,1749142482.639 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:42.640Z,1749142482.640 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:42.649Z,1749142482.649 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.036354
2025-06-05T16:54:42.839Z,1749142482.839 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.226413
2025-06-05T16:54:42.875Z,1749142482.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.700001 m,
      deltaT: 3.779413 s,
      deltaX: -2.299999 m,
      approachRate: -0.608560 m/s,
      rangeRepo size: 4

2025-06-05T16:54:42.877Z,1749142482.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.496294 m,
      bearing: 333.234422 deg,
      lat: 36.906299 deg,
      lon: -122.115886 deg,
      deltaT: 3.779413 s,
      deltaX: -2.282114 m,
      approachRate: -0.603828 m/s,
      posRepo size: 4

2025-06-05T16:54:42.879Z,1749142482.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-06-05T16:54:42.883Z,1749142482.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.496294 m,
      nav range: 24.384737 m,
      bearing: 333.631085 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.040700 deg/s,
      cmd heading: 321.020831 deg,
      new cmd heading: 321.066997 deg.

2025-06-05T16:54:42.884Z,1749142482.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603676 target range: 24.496294 and range: 24.70 m.
2025-06-05T16:54:43.091Z,1749142483.091 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.478164
2025-06-05T16:54:43.249Z,1749142483.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-06-05T16:54:43.282Z,1749142483.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.496294 m,
      nav range: 24.151861 m,
      bearing: 333.639636 deg,
      approach rate: -0.614498 m/s,
      LOS rate: 0.022781 deg/s,
      cmd heading: 321.067003 deg,
      new cmd heading: 321.092903 deg.

2025-06-05T16:54:43.283Z,1749142483.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604128 target range: 24.496294 and range: 24.70 m.
2025-06-05T16:54:43.352Z,1749142483.352 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.738518
2025-06-05T16:54:43.599Z,1749142483.599 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.986240
2025-06-05T16:54:43.725Z,1749142483.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:43.745Z,1749142483.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-06-05T16:54:43.752Z,1749142483.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.496294 m,
      nav range: 23.881798 m,
      bearing: 333.655432 deg,
      approach rate: -0.545057 m/s,
      LOS rate: 0.032241 deg/s,
      cmd heading: 321.092903 deg,
      new cmd heading: 321.140827 deg.

2025-06-05T16:54:43.753Z,1749142483.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604965 target range: 24.496294 and range: 24.70 m.
2025-06-05T16:54:43.852Z,1749142483.852 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.238801
2025-06-05T16:54:44.094Z,1749142484.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-06-05T16:54:44.103Z,1749142484.103 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.490125
2025-06-05T16:54:44.116Z,1749142484.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.496294 m,
      nav range: 23.670076 m,
      bearing: 333.667627 deg,
      approach rate: -0.605387 m/s,
      LOS rate: 0.035181 deg/s,
      cmd heading: 321.140824 deg,
      new cmd heading: 321.177735 deg.

2025-06-05T16:54:44.117Z,1749142484.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605609 target range: 24.496294 and range: 24.70 m.
2025-06-05T16:54:44.359Z,1749142484.359 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.745328
2025-06-05T16:54:44.526Z,1749142484.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-06-05T16:54:44.531Z,1749142484.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.496294 m,
      nav range: 23.424097 m,
      bearing: 333.692289 deg,
      approach rate: -0.570622 m/s,
      LOS rate: 0.057812 deg/s,
      cmd heading: 321.177734 deg,
      new cmd heading: 321.252497 deg.

2025-06-05T16:54:44.533Z,1749142484.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606914 target range: 24.496294 and range: 24.70 m.
2025-06-05T16:54:44.608Z,1749142484.608 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.994836
2025-06-05T16:54:44.861Z,1749142484.861 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.247889
2025-06-05T16:54:44.906Z,1749142484.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-06-05T16:54:44.909Z,1749142484.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.496294 m,
      nav range: 23.205759 m,
      bearing: 333.710828 deg,
      approach rate: -0.574108 m/s,
      LOS rate: 0.049206 deg/s,
      cmd heading: 321.252483 deg,
      new cmd heading: 321.308624 deg.

2025-06-05T16:54:44.909Z,1749142484.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607893 target range: 24.496294 and range: 24.70 m.
2025-06-05T16:54:45.112Z,1749142485.112 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.499218
2025-06-05T16:54:45.307Z,1749142485.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-06-05T16:54:45.326Z,1749142485.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.496294 m,
      nav range: 22.979416 m,
      bearing: 333.730419 deg,
      approach rate: -0.563525 m/s,
      LOS rate: 0.049256 deg/s,
      cmd heading: 321.308628 deg,
      new cmd heading: 321.367980 deg.

2025-06-05T16:54:45.327Z,1749142485.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608929 target range: 24.496294 and range: 24.70 m.
2025-06-05T16:54:45.370Z,1749142485.370 [DAT](INFO): DAT read: Rx Time:16:54:44.0912

2025-06-05T16:54:45.372Z,1749142485.372 [DAT](INFO): Rx dataTimestamp_ set to:1749142485.371077
2025-06-05T16:54:45.376Z,1749142485.376 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.761828
2025-06-05T16:54:45.619Z,1749142485.619 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.006023
2025-06-05T16:54:45.794Z,1749142485.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:45.796Z,1749142485.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-06-05T16:54:45.800Z,1749142485.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.496294 m,
      nav range: 22.703836 m,
      bearing: 333.731627 deg,
      approach rate: -0.563399 m/s,
      LOS rate: 0.002500 deg/s,
      cmd heading: 321.367968 deg,
      new cmd heading: 321.371637 deg.

2025-06-05T16:54:45.801Z,1749142485.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608993 target range: 24.496294 and range: 24.70 m.
2025-06-05T16:54:45.874Z,1749142485.874 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.260345
2025-06-05T16:54:46.129Z,1749142486.129 [DAT](INFO): DAT read: 16:54:44.0912 LVL= 26224, 32753, 22114, 32755, AGC= 63, IDX= 417,-0.15, 2.990, 1.584, 2.700, 2.684, PHS= 0.394,-1.053, 0.013, RAW= 135.3,  10.0, CAL= 139.9,   3.7, ROT=  10.1,  -3.7

2025-06-05T16:54:46.132Z,1749142486.132 [DAT](INFO): got valid direction response:
 16:54:44.0912 LVL= 26224, 32753, 22114, 32755, AGC= 63, IDX= 417,-0.15, 2.990, 1.584, 2.700, 2.684, PHS= 0.394,-1.053, 0.013, RAW= 135.3,  10.0, CAL= 139.9,   3.7, ROT=  10.1,  -3.7

2025-06-05T16:54:46.133Z,1749142486.133 [DAT](INFO): DAT read: Bearing  10.1,  -3.7 (Local)

2025-06-05T16:54:46.133Z,1749142486.133 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.1,  -3.7 (Local)

2025-06-05T16:54:46.135Z,1749142486.135 [DAT](INFO): DAT read: Range 10 to 50 : 22.5 m  (Round-trip  30.1 ms) speed  0.4 m/s

2025-06-05T16:54:46.136Z,1749142486.136 [DAT](INFO): DAT read: user:2485>

2025-06-05T16:54:46.136Z,1749142486.136 [DAT](INFO): DAT read: Tx time:16:54:45.2069

2025-06-05T16:54:46.137Z,1749142486.137 [DAT](INFO): Ping request sent.
2025-06-05T16:54:46.137Z,1749142486.137 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:54:46.137Z,1749142486.137 [DAT](INFO): DAT read: TxSync time:16:54:45.2061

2025-06-05T16:54:46.143Z,1749142486.143 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-05T16:54:46.151Z,1749142486.151 [DAT](INFO): direction in FSK: [0.982451,0.175001,0.064532]
2025-06-05T16:54:46.151Z,1749142486.151 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:46.152Z,1749142486.152 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:46.159Z,1749142486.159 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:46.159Z,1749142486.159 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:46.170Z,1749142486.170 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.033472
2025-06-05T16:54:46.177Z,1749142486.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 3.535061 s,
      deltaX: -2.200001 m,
      approachRate: -0.622337 m/s,
      rangeRepo size: 4

2025-06-05T16:54:46.184Z,1749142486.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.314791 m,
      bearing: 332.601042 deg,
      lat: 36.906299 deg,
      lon: -122.115888 deg,
      deltaT: 3.535061 s,
      deltaX: -2.181503 m,
      approachRate: -0.617105 m/s,
      posRepo size: 4

2025-06-05T16:54:46.184Z,1749142486.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T16:54:46.192Z,1749142486.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.314791 m,
      nav range: 22.600838 m,
      bearing: 333.301307 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002500 deg/s,
      cmd heading: 321.371629 deg,
      new cmd heading: 321.374481 deg.

2025-06-05T16:54:46.193Z,1749142486.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609043 target range: 22.314791 and range: 22.50 m.
2025-06-05T16:54:46.376Z,1749142486.376 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.238996
2025-06-05T16:54:46.627Z,1749142486.627 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.490403
2025-06-05T16:54:46.879Z,1749142486.879 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.742414
2025-06-05T16:54:46.888Z,1749142486.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T16:54:46.892Z,1749142486.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.314791 m,
      nav range: 22.170204 m,
      bearing: 333.288776 deg,
      approach rate: -0.605177 m/s,
      LOS rate: -0.017953 deg/s,
      cmd heading: 321.374471 deg,
      new cmd heading: 321.336146 deg.

2025-06-05T16:54:46.893Z,1749142486.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608374 target range: 22.314791 and range: 22.50 m.
2025-06-05T16:54:47.132Z,1749142487.132 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.995435
2025-06-05T16:54:47.253Z,1749142487.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T16:54:47.260Z,1749142487.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.314791 m,
      nav range: 21.969040 m,
      bearing: 333.282805 deg,
      approach rate: -0.551493 m/s,
      LOS rate: -0.016520 deg/s,
      cmd heading: 321.336140 deg,
      new cmd heading: 321.318062 deg.

2025-06-05T16:54:47.261Z,1749142487.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608058 target range: 22.314791 and range: 22.50 m.
2025-06-05T16:54:47.383Z,1749142487.383 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.246297
2025-06-05T16:54:47.638Z,1749142487.638 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.500648
2025-06-05T16:54:47.683Z,1749142487.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T16:54:47.691Z,1749142487.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.314791 m,
      nav range: 21.723341 m,
      bearing: 333.257654 deg,
      approach rate: -0.570680 m/s,
      LOS rate: -0.059079 deg/s,
      cmd heading: 321.318053 deg,
      new cmd heading: 321.241746 deg.

2025-06-05T16:54:47.692Z,1749142487.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606726 target range: 22.314791 and range: 22.50 m.
2025-06-05T16:54:47.887Z,1749142487.887 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.750162
2025-06-05T16:54:48.051Z,1749142488.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:48.053Z,1749142488.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T16:54:48.056Z,1749142488.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.314791 m,
      nav range: 21.495516 m,
      bearing: 333.232666 deg,
      approach rate: -0.617183 m/s,
      LOS rate: -0.068409 deg/s,
      cmd heading: 321.241746 deg,
      new cmd heading: 321.165989 deg.

2025-06-05T16:54:48.056Z,1749142488.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605404 target range: 22.314791 and range: 22.50 m.
2025-06-05T16:54:48.140Z,1749142488.140 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.003291
2025-06-05T16:54:48.391Z,1749142488.391 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.254296
2025-06-05T16:54:48.483Z,1749142488.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T16:54:48.499Z,1749142488.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.314791 m,
      nav range: 21.280085 m,
      bearing: 333.207992 deg,
      approach rate: -0.508296 m/s,
      LOS rate: -0.058805 deg/s,
      cmd heading: 321.165986 deg,
      new cmd heading: 321.091216 deg.

2025-06-05T16:54:48.500Z,1749142488.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604099 target range: 22.314791 and range: 22.50 m.
2025-06-05T16:54:48.643Z,1749142488.643 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.506545
2025-06-05T16:54:48.882Z,1749142488.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T16:54:48.893Z,1749142488.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.314791 m,
      nav range: 21.021255 m,
      bearing: 333.180762 deg,
      approach rate: -0.638777 m/s,
      LOS rate: -0.068031 deg/s,
      cmd heading: 321.091209 deg,
      new cmd heading: 321.008512 deg.

2025-06-05T16:54:48.894Z,1749142488.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602655 target range: 22.314791 and range: 22.50 m.
2025-06-05T16:54:48.895Z,1749142488.895 [DAT](INFO): DAT read: Rx Time:16:54:47.6385

2025-06-05T16:54:48.896Z,1749142488.896 [DAT](INFO): Rx dataTimestamp_ set to:1749142488.895481
2025-06-05T16:54:48.896Z,1749142488.896 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.759432
2025-06-05T16:54:49.148Z,1749142489.148 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.011332
2025-06-05T16:54:49.236Z,1749142489.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T16:54:49.244Z,1749142489.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.314791 m,
      nav range: 20.807373 m,
      bearing: 333.157148 deg,
      approach rate: -0.602776 m/s,
      LOS rate: -0.067235 deg/s,
      cmd heading: 321.008509 deg,
      new cmd heading: 320.936939 deg.

2025-06-05T16:54:49.248Z,1749142489.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601406 target range: 22.314791 and range: 22.50 m.
2025-06-05T16:54:49.403Z,1749142489.403 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.265704
2025-06-05T16:54:49.657Z,1749142489.657 [DAT](INFO): DAT read: 16:54:47.6385 LVL= 25632, 32753, 22562, 32755, AGC= 63, IDX= 422, 0.14, 1.200,-0.227, 1.045, 0.896, PHS= 0.391,-1.077, 0.146, RAW= 141.0,   8.0, CAL= 144.2,   0.4, ROT=   5.8,  -0.4

2025-06-05T16:54:49.658Z,1749142489.658 [DAT](INFO): got valid direction response:
 16:54:47.6385 LVL= 25632, 32753, 22562, 32755, AGC= 63, IDX= 422, 0.14, 1.200,-0.227, 1.045, 0.896, PHS= 0.391,-1.077, 0.146, RAW= 141.0,   8.0, CAL= 144.2,   0.4, ROT=   5.8,  -0.4

2025-06-05T16:54:49.659Z,1749142489.659 [DAT](INFO): DAT read: Bearing   5.8,  -0.4 (Local)

2025-06-05T16:54:49.659Z,1749142489.659 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.8,  -0.4 (Local)

2025-06-05T16:54:49.661Z,1749142489.661 [DAT](INFO): DAT read: Range 10 to 50 : 20.6 m  (Round-trip  27.5 ms) speed  0.4 m/s

2025-06-05T16:54:49.661Z,1749142489.661 [DAT](INFO): DAT read: user:2486>

2025-06-05T16:54:49.662Z,1749142489.662 [DAT](INFO): DAT read: Tx time:16:54:48.7569

2025-06-05T16:54:49.663Z,1749142489.663 [DAT](INFO): Ping request sent.
2025-06-05T16:54:49.663Z,1749142489.663 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:54:49.663Z,1749142489.663 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-05T16:54:49.670Z,1749142489.670 [DAT](INFO): direction in FSK: [0.994856,0.101054,0.006981]
2025-06-05T16:54:49.671Z,1749142489.671 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:49.671Z,1749142489.671 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:49.674Z,1749142489.674 [DAT](INFO): publishing transmit ping time
2025-06-05T16:54:49.686Z,1749142489.686 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:49.694Z,1749142489.694 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.027175
2025-06-05T16:54:49.755Z,1749142489.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 3.528037 s,
      deltaX: -1.900000 m,
      approachRate: -0.538543 m/s,
      rangeRepo size: 4

2025-06-05T16:54:49.757Z,1749142489.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.430878 m,
      bearing: 328.915689 deg,
      lat: 36.906299 deg,
      lon: -122.115888 deg,
      deltaT: 3.528037 s,
      deltaX: -1.883913 m,
      approachRate: -0.533983 m/s,
      posRepo size: 4

2025-06-05T16:54:49.759Z,1749142489.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.43 m.
2025-06-05T16:54:49.761Z,1749142489.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.430878 m,
      nav range: 20.509369 m,
      bearing: 333.110583 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067235 deg/s,
      cmd heading: 320.936929 deg,
      new cmd heading: 320.832463 deg.

2025-06-05T16:54:49.783Z,1749142489.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599583 target range: 20.430878 and range: 20.60 m.
2025-06-05T16:54:49.903Z,1749142489.903 [DAT](INFO): DAT read: TxSync time:16:54:48.7561

2025-06-05T16:54:49.904Z,1749142489.904 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.241463
2025-06-05T16:54:50.077Z,1749142490.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:50.084Z,1749142490.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.43 m.
2025-06-05T16:54:50.095Z,1749142490.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.430878 m,
      nav range: 20.285900 m,
      bearing: 333.075839 deg,
      approach rate: -0.678442 m/s,
      LOS rate: -0.106642 deg/s,
      cmd heading: 320.832454 deg,
      new cmd heading: 320.727075 deg.

2025-06-05T16:54:50.096Z,1749142490.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597744 target range: 20.430878 and range: 20.60 m.
2025-06-05T16:54:50.156Z,1749142490.156 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.493278
2025-06-05T16:54:50.407Z,1749142490.407 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.744537
2025-06-05T16:54:50.439Z,1749142490.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.43 m.
2025-06-05T16:54:50.442Z,1749142490.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.430878 m,
      nav range: 20.071419 m,
      bearing: 333.043254 deg,
      approach rate: -0.603848 m/s,
      LOS rate: -0.092720 deg/s,
      cmd heading: 320.727078 deg,
      new cmd heading: 320.628278 deg.

2025-06-05T16:54:50.486Z,1749142490.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596019 target range: 20.430878 and range: 20.60 m.
2025-06-05T16:54:50.659Z,1749142490.659 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.996459
2025-06-05T16:54:50.877Z,1749142490.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.43 m.
2025-06-05T16:54:50.882Z,1749142490.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.430878 m,
      nav range: 19.792694 m,
      bearing: 333.008532 deg,
      approach rate: -0.635607 m/s,
      LOS rate: -0.080297 deg/s,
      cmd heading: 320.628286 deg,
      new cmd heading: 320.522652 deg.

2025-06-05T16:54:50.883Z,1749142490.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594176 target range: 20.430878 and range: 20.60 m.
2025-06-05T16:54:50.911Z,1749142490.911 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.248483
2025-06-05T16:54:51.163Z,1749142491.163 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.500467
2025-06-05T16:54:51.258Z,1749142491.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.43 m.
2025-06-05T16:54:51.261Z,1749142491.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.430878 m,
      nav range: 19.567171 m,
      bearing: 332.980556 deg,
      approach rate: -0.596611 m/s,
      LOS rate: -0.074861 deg/s,
      cmd heading: 320.522664 deg,
      new cmd heading: 320.437770 deg.

2025-06-05T16:54:51.263Z,1749142491.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592694 target range: 20.430878 and range: 20.60 m.
2025-06-05T16:54:51.415Z,1749142491.415 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.752424
2025-06-05T16:54:51.667Z,1749142491.667 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.004560
2025-06-05T16:54:51.705Z,1749142491.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.43 m.
2025-06-05T16:54:51.714Z,1749142491.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.430878 m,
      nav range: 19.282524 m,
      bearing: 332.945338 deg,
      approach rate: -0.633058 m/s,
      LOS rate: -0.079481 deg/s,
      cmd heading: 320.437778 deg,
      new cmd heading: 320.330566 deg.

2025-06-05T16:54:51.723Z,1749142491.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590823 target range: 20.430878 and range: 20.60 m.
2025-06-05T16:54:51.919Z,1749142491.919 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.256475
2025-06-05T16:54:52.108Z,1749142492.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:52.131Z,1749142492.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.43 m.
2025-06-05T16:54:52.134Z,1749142492.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.430878 m,
      nav range: 19.011814 m,
      bearing: 332.912329 deg,
      approach rate: -0.668646 m/s,
      LOS rate: -0.082694 deg/s,
      cmd heading: 320.330572 deg,
      new cmd heading: 320.230132 deg.

2025-06-05T16:54:52.143Z,1749142492.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589070 target range: 20.430878 and range: 20.60 m.
2025-06-05T16:54:52.172Z,1749142492.172 [DAT](INFO): DAT read: Rx Time:16:54:50.9110 

2025-06-05T16:54:52.172Z,1749142492.172 [DAT](INFO): Rx dataTimestamp_ set to:1749142492.172148
2025-06-05T16:54:52.174Z,1749142492.174 [DAT](INFO): DAT read: Bearing   2.5,   1.2 (Local)

2025-06-05T16:54:52.174Z,1749142492.174 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,   1.2 (Local)

2025-06-05T16:54:52.176Z,1749142492.176 [DAT](INFO): DAT read: Range 10 to 50 :    18.8 m (trip time 12.5 ms) speed 0.7

2025-06-05T16:54:52.183Z,1749142492.183 [DAT](INFO): DAT read: 16:54:50.9110 LVL= 18192, 21633, 17330, 23523, AGC= 65, IDX= 156,-0.03,-2.147, 2.752,-2.183,-2.416, PHS= 0.356,-1.069, 0.230, RAW= 145.4,   7.1, CAL= 147.5,  -1.2, ROT=   2.5,   1.2

2025-06-05T16:54:52.184Z,1749142492.184 [DAT](INFO): got valid direction response:
 16:54:50.9110 LVL= 18192, 21633, 17330, 23523, AGC= 65, IDX= 156,-0.03,-2.147, 2.752,-2.183,-2.416, PHS= 0.356,-1.069, 0.230, RAW= 145.4,   7.1, CAL= 147.5,  -1.2, ROT=   2.5,   1.2

2025-06-05T16:54:52.184Z,1749142492.184 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-05T16:54:52.185Z,1749142492.185 [DAT](INFO): direction in FSK: [0.998829,0.043610,-0.020942]
2025-06-05T16:54:52.185Z,1749142492.185 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:52.189Z,1749142492.189 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.526056
2025-06-05T16:54:52.423Z,1749142492.423 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.760768
2025-06-05T16:54:52.583Z,1749142492.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 2.521455 s,
      deltaX: -1.800001 m,
      approachRate: -0.713874 m/s,
      rangeRepo size: 4

2025-06-05T16:54:52.585Z,1749142492.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.645712 m,
      bearing: 325.241698 deg,
      lat: 36.906296 deg,
      lon: -122.115889 deg,
      deltaT: 2.521455 s,
      deltaX: -1.785166 m,
      approachRate: -0.707990 m/s,
      posRepo size: 4

2025-06-05T16:54:52.585Z,1749142492.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.65 m.
2025-06-05T16:54:52.600Z,1749142492.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.645712 m,
      nav range: 18.445383 m,
      bearing: 332.025786 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.082694 deg/s,
      cmd heading: 320.230141 deg,
      new cmd heading: 320.114116 deg.

2025-06-05T16:54:52.608Z,1749142492.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587045 target range: 18.645712 and range: 18.80 m.
2025-06-05T16:54:52.676Z,1749142492.676 [DAT](INFO): DAT read: Rx Time:16:54:51.4108 

2025-06-05T16:54:52.676Z,1749142492.676 [DAT](INFO): Rx dataTimestamp_ set to:1749142492.676035
2025-06-05T16:54:52.678Z,1749142492.678 [DAT](INFO): DAT read: Bearing   1.2,   2.0 (Local)

2025-06-05T16:54:52.678Z,1749142492.678 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,   2.0 (Local)

2025-06-05T16:54:52.680Z,1749142492.680 [DAT](INFO): DAT read: Range 10 to 50 :    18.5 m (trip time 12.3 ms) speed 0.5

2025-06-05T16:54:52.691Z,1749142492.691 [DAT](INFO): DAT read: 16:54:51.4108 LVL= 20848, 28145, 20674, 30323, AGC= 63, IDX= 506,-0.15,-1.833, 3.044,-1.829,-2.103, PHS= 0.358,-1.088, 0.271, RAW= 146.9,   6.6, CAL= 148.8,  -2.0, ROT=   1.2,   2.0

2025-06-05T16:54:52.693Z,1749142492.693 [DAT](INFO): got valid direction response:
 16:54:51.4108 LVL= 20848, 28145, 20674, 30323, AGC= 63, IDX= 506,-0.15,-1.833, 3.044,-1.829,-2.103, PHS= 0.358,-1.088, 0.271, RAW= 146.9,   6.6, CAL= 148.8,  -2.0, ROT=   1.2,   2.0

2025-06-05T16:54:52.693Z,1749142492.693 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-05T16:54:52.701Z,1749142492.701 [DAT](INFO): direction in FSK: [0.999172,0.020930,-0.034899]
2025-06-05T16:54:52.702Z,1749142492.702 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:52.728Z,1749142492.728 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.064671
2025-06-05T16:54:52.927Z,1749142492.927 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.264541
2025-06-05T16:54:53.071Z,1749142493.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.503887 s,
      deltaX: -0.299999 m,
      approachRate: -0.595370 m/s,
      rangeRepo size: 4

2025-06-05T16:54:53.073Z,1749142493.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.348196 m,
      bearing: 323.688940 deg,
      lat: 36.906292 deg,
      lon: -122.115902 deg,
      deltaT: 0.503887 s,
      deltaX: -0.297516 m,
      approachRate: -0.590442 m/s,
      posRepo size: 4

2025-06-05T16:54:53.078Z,1749142493.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.35 m.
2025-06-05T16:54:53.085Z,1749142493.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.348196 m,
      nav range: 18.374907 m,
      bearing: 328.203503 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.082694 deg/s,
      cmd heading: 320.114109 deg,
      new cmd heading: 319.991915 deg.

2025-06-05T16:54:53.086Z,1749142493.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584912 target range: 18.348196 and range: 18.50 m.
2025-06-05T16:54:53.183Z,1749142493.183 [DAT](INFO): DAT read: Rx Time:16:54:51.9105 

2025-06-05T16:54:53.183Z,1749142493.183 [DAT](INFO): Rx dataTimestamp_ set to:1749142493.182789
2025-06-05T16:54:53.185Z,1749142493.185 [DAT](INFO): DAT read: Bearing   0.9,   1.8 (Local)

2025-06-05T16:54:53.185Z,1749142493.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,   1.8 (Local)

2025-06-05T16:54:53.188Z,1749142493.188 [DAT](INFO): DAT read: Range 10 to 50 :    18.0 m (trip time 12.0 ms) speed 0.7

2025-06-05T16:54:53.193Z,1749142493.193 [DAT](INFO): DAT read: 16:54:51.9105 LVL= 21488, 29249, 19058, 32755, AGC= 62, IDX= 503,-0.30,-3.071, 1.812,-3.053, 2.954, PHS= 0.347,-1.095, 0.273, RAW= 147.4,   6.8, CAL= 149.1,  -1.8, ROT=   0.9,   1.8

2025-06-05T16:54:53.194Z,1749142493.194 [DAT](INFO): got valid direction response:
 16:54:51.9105 LVL= 21488, 29249, 19058, 32755, AGC= 62, IDX= 503,-0.30,-3.071, 1.812,-3.053, 2.954, PHS= 0.347,-1.095, 0.273, RAW= 147.4,   6.8, CAL= 149.1,  -1.8, ROT=   0.9,   1.8

2025-06-05T16:54:53.194Z,1749142493.194 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-05T16:54:53.195Z,1749142493.195 [DAT](INFO): direction in FSK: [0.999383,0.015700,-0.031411]
2025-06-05T16:54:53.195Z,1749142493.195 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:53.221Z,1749142493.221 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.558485
2025-06-05T16:54:53.405Z,1749142493.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.506754 s,
      deltaX: -0.500000 m,
      approachRate: -0.986672 m/s,
      rangeRepo size: 4

2025-06-05T16:54:53.409Z,1749142493.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.852299 m,
      bearing: 323.238746 deg,
      lat: 36.906287 deg,
      lon: -122.115911 deg,
      deltaT: 0.506754 s,
      deltaX: -0.495897 m,
      approachRate: -0.978576 m/s,
      posRepo size: 4

2025-06-05T16:54:53.419Z,1749142493.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.85 m.
2025-06-05T16:54:53.422Z,1749142493.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.852299 m,
      nav range: 18.092041 m,
      bearing: 324.998513 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.082694 deg/s,
      cmd heading: 319.991904 deg,
      new cmd heading: 319.909132 deg.

2025-06-05T16:54:53.433Z,1749142493.433 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.770097
2025-06-05T16:54:53.436Z,1749142493.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583467 target range: 17.852299 and range: 18.00 m.
2025-06-05T16:54:53.684Z,1749142493.684 [DAT](INFO): DAT read: Rx Time:16:54:52.4103 

2025-06-05T16:54:53.684Z,1749142493.684 [DAT](INFO): Rx dataTimestamp_ set to:1749142493.684077
2025-06-05T16:54:53.686Z,1749142493.686 [DAT](INFO): DAT read: Bearing 358.8,   3.2 (Local)

2025-06-05T16:54:53.687Z,1749142493.687 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,   3.2 (Local)

2025-06-05T16:54:53.689Z,1749142493.689 [DAT](INFO): DAT read: Range 10 to 50 :    17.7 m (trip time 11.8 ms) speed 0.5

2025-06-05T16:54:53.693Z,1749142493.693 [DAT](INFO): DAT read: 16:54:52.4103 LVL= 23936, 31505, 19266, 32755, AGC= 63, IDX= 500, 0.37,-0.031,-1.445, 0.052,-0.294, PHS= 0.351,-1.104, 0.343, RAW= 149.7,   5.7, CAL= 151.2,  -3.2, ROT= 358.8,   3.2

2025-06-05T16:54:53.695Z,1749142493.695 [DAT](INFO): got valid direction response:
 16:54:52.4103 LVL= 23936, 31505, 19266, 32755, AGC= 63, IDX= 500, 0.37,-0.031,-1.445, 0.052,-0.294, PHS= 0.351,-1.104, 0.343, RAW= 149.7,   5.7, CAL= 151.2,  -3.2, ROT= 358.8,   3.2

2025-06-05T16:54:53.695Z,1749142493.695 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-05T16:54:53.696Z,1749142493.696 [DAT](INFO): direction in FSK: [0.998222,-0.020910,-0.055822]
2025-06-05T16:54:53.696Z,1749142493.696 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:53.709Z,1749142493.709 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=4.046782
2025-06-05T16:54:53.873Z,1749142493.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 0.501288 s,
      deltaX: -0.299999 m,
      approachRate: -0.598457 m/s,
      rangeRepo size: 4

2025-06-05T16:54:53.881Z,1749142493.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.554813 m,
      bearing: 321.060633 deg,
      lat: 36.906284 deg,
      lon: -122.115914 deg,
      deltaT: 0.501288 s,
      deltaX: -0.297485 m,
      approachRate: -0.593442 m/s,
      posRepo size: 4

2025-06-05T16:54:53.899Z,1749142493.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.55 m.
2025-06-05T16:54:53.901Z,1749142493.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.554813 m,
      nav range: 17.764091 m,
      bearing: 323.597427 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.082694 deg/s,
      cmd heading: 319.909122 deg,
      new cmd heading: 319.793305 deg.

2025-06-05T16:54:53.907Z,1749142493.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581446 target range: 17.554813 and range: 17.70 m.
2025-06-05T16:54:53.935Z,1749142493.935 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=4.272580
2025-06-05T16:54:54.188Z,1749142494.188 [DAT](INFO): DAT read: Rx Time:16:54:52.9100 

2025-06-05T16:54:54.188Z,1749142494.188 [DAT](INFO): Rx dataTimestamp_ set to:1749142494.187999
2025-06-05T16:54:54.190Z,1749142494.190 [DAT](INFO): DAT read: Bearing 358.1,   3.4 (Local)

2025-06-05T16:54:54.190Z,1749142494.190 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.1,   3.4 (Local)

2025-06-05T16:54:54.192Z,1749142494.192 [DAT](INFO): DAT read: Range 10 to 50 :    17.3 m (trip time 11.5 ms) speed 0.5

2025-06-05T16:54:54.199Z,1749142494.199 [DAT](INFO): DAT read: 16:54:52.9100 LVL= 22768, 28241, 20402, 30579, AGC= 62, IDX= 497, 0.21,-1.843, 3.039,-1.741,-2.101, PHS= 0.346,-1.096, 0.357, RAW= 150.4,   5.5, CAL= 151.9,  -3.4, ROT= 358.1,   3.4

2025-06-05T16:54:54.200Z,1749142494.200 [DAT](INFO): got valid direction response:
 16:54:52.9100 LVL= 22768, 28241, 20402, 30579, AGC= 62, IDX= 497, 0.21,-1.843, 3.039,-1.741,-2.101, PHS= 0.346,-1.096, 0.357, RAW= 150.4,   5.5, CAL= 151.9,  -3.4, ROT= 358.1,   3.4

2025-06-05T16:54:54.200Z,1749142494.200 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-05T16:54:54.201Z,1749142494.201 [DAT](INFO): direction in FSK: [0.997691,-0.033097,-0.059306]
2025-06-05T16:54:54.201Z,1749142494.201 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:54.205Z,1749142494.205 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=4.542243
2025-06-05T16:54:54.281Z,1749142494.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.503922 s,
      deltaX: -0.400002 m,
      approachRate: -0.793777 m/s,
      rangeRepo size: 4

2025-06-05T16:54:54.288Z,1749142494.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.158094 m,
      bearing: 320.199167 deg,
      lat: 36.906282 deg,
      lon: -122.115915 deg,
      deltaT: 0.503922 s,
      deltaX: -0.396719 m,
      approachRate: -0.787263 m/s,
      posRepo size: 4

2025-06-05T16:54:54.288Z,1749142494.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.16 m.
2025-06-05T16:54:54.304Z,1749142494.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.158094 m,
      nav range: 17.326099 m,
      bearing: 322.741277 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.082694 deg/s,
      cmd heading: 319.793309 deg,
      new cmd heading: 319.691940 deg.

2025-06-05T16:54:54.305Z,1749142494.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579677 target range: 17.158094 and range: 17.30 m.
2025-06-05T16:54:54.439Z,1749142494.439 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=4.776669
2025-06-05T16:54:54.679Z,1749142494.679 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  87.59,  81.82,  85.89, 

2025-06-05T16:54:54.692Z,1749142494.692 [DAT](INFO): DAT read: Rx Time:16:54:53.4098 

2025-06-05T16:54:54.692Z,1749142494.692 [DAT](INFO): Rx dataTimestamp_ set to:1749142494.691891
2025-06-05T16:54:54.693Z,1749142494.693 [DAT](INFO): DAT read: Bearing 358.2,   3.2 (Local)

2025-06-05T16:54:54.694Z,1749142494.694 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,   3.2 (Local)

2025-06-05T16:54:54.696Z,1749142494.696 [DAT](INFO): DAT read: Range 10 to 50 :    17.0 m (trip time 11.3 ms) speed 0.5

2025-06-05T16:54:54.702Z,1749142494.702 [DAT](INFO): DAT read: 16:54:53.4098 LVL= 23536, 30449, 19090, 32755, AGC= 62, IDX= 496, 0.09,-1.271,-2.683,-1.170,-1.526, PHS= 0.343,-1.110, 0.353, RAW= 150.4,   5.7, CAL= 151.8,  -3.2, ROT= 358.2,   3.2

2025-06-05T16:54:54.703Z,1749142494.703 [DAT](INFO): got valid direction response:
 16:54:53.4098 LVL= 23536, 30449, 19090, 32755, AGC= 62, IDX= 496, 0.09,-1.271,-2.683,-1.170,-1.526, PHS= 0.343,-1.110, 0.353, RAW= 150.4,   5.7, CAL= 151.8,  -3.2, ROT= 358.2,   3.2

2025-06-05T16:54:54.703Z,1749142494.703 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-05T16:54:54.704Z,1749142494.704 [DAT](INFO): direction in FSK: [0.997948,-0.031362,-0.055822]
2025-06-05T16:54:54.704Z,1749142494.704 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:54.708Z,1749142494.708 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=5.045385
2025-06-05T16:54:54.776Z,1749142494.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.503892 s,
      deltaX: -0.299999 m,
      approachRate: -0.595364 m/s,
      rangeRepo size: 4

2025-06-05T16:54:54.783Z,1749142494.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.860498 m,
      bearing: 320.111515 deg,
      lat: 36.906278 deg,
      lon: -122.115919 deg,
      deltaT: 0.503892 s,
      deltaX: -0.297596 m,
      approachRate: -0.590595 m/s,
      posRepo size: 4

2025-06-05T16:54:54.783Z,1749142494.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.86 m.
2025-06-05T16:54:54.791Z,1749142494.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.860498 m,
      nav range: 16.944183 m,
      bearing: 320.668438 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.082694 deg/s,
      cmd heading: 319.691949 deg,
      new cmd heading: 319.568821 deg.

2025-06-05T16:54:54.792Z,1749142494.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577528 target range: 16.860498 and range: 17.00 m.
2025-06-05T16:54:54.943Z,1749142494.943 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=5.280808
2025-06-05T16:54:55.148Z,1749142495.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:55.151Z,1749142495.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.86 m.
2025-06-05T16:54:55.153Z,1749142495.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.860498 m,
      nav range: 16.703121 m,
      bearing: 320.494118 deg,
      approach rate: -0.642599 m/s,
      LOS rate: -0.471389 deg/s,
      cmd heading: 319.568815 deg,
      new cmd heading: 319.038325 deg.

2025-06-05T16:54:55.167Z,1749142495.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.568269 target range: 16.860498 and range: 17.00 m.
2025-06-05T16:54:55.196Z,1749142495.196 [DAT](INFO): DAT read: Rx Time:16:54:53.9095 

2025-06-05T16:54:55.196Z,1749142495.196 [DAT](INFO): Rx dataTimestamp_ set to:1749142495.195887
2025-06-05T16:54:55.199Z,1749142495.199 [DAT](INFO): DAT read: Bearing 358.5,   2.5 (Local)

2025-06-05T16:54:55.199Z,1749142495.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,   2.5 (Local)

2025-06-05T16:54:55.201Z,1749142495.201 [DAT](INFO): DAT read: Range 10 to 50 :    16.5 m (trip time 11.0 ms) speed 0.6

2025-06-05T16:54:55.206Z,1749142495.206 [DAT](INFO): DAT read: 16:54:53.9095 LVL= 23664, 28657, 18450, 31891, AGC= 62, IDX= 509,-0.01, 2.772, 1.396, 2.870, 2.541, PHS= 0.319,-1.097, 0.326, RAW= 150.2,   6.4, CAL= 151.5,  -2.5, ROT= 358.5,   2.5

2025-06-05T16:54:55.207Z,1749142495.207 [DAT](INFO): got valid direction response:
 16:54:53.9095 LVL= 23664, 28657, 18450, 31891, AGC= 62, IDX= 509,-0.01, 2.772, 1.396, 2.870, 2.541, PHS= 0.319,-1.097, 0.326, RAW= 150.2,   6.4, CAL= 151.5,  -2.5, ROT= 358.5,   2.5

2025-06-05T16:54:55.208Z,1749142495.208 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-05T16:54:55.209Z,1749142495.209 [DAT](INFO): direction in FSK: [0.998706,-0.026152,-0.043619]
2025-06-05T16:54:55.209Z,1749142495.209 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:55.212Z,1749142495.212 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=5.549764
2025-06-05T16:54:55.449Z,1749142495.449 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=5.786292
2025-06-05T16:54:55.700Z,1749142495.700 [DAT](INFO): DAT read: Rx Time:16:54:54.4095 

2025-06-05T16:54:55.701Z,1749142495.701 [DAT](INFO): Rx dataTimestamp_ set to:1749142495.700624
2025-06-05T16:54:55.702Z,1749142495.702 [DAT](INFO): DAT read: Bearing 357.5,   2.8 (Local)

2025-06-05T16:54:55.703Z,1749142495.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,   2.8 (Local)

2025-06-05T16:54:55.705Z,1749142495.705 [DAT](INFO): DAT read: Range 10 to 50 :    16.5 m (trip time 11.0 ms) speed 0.5

2025-06-05T16:54:55.710Z,1749142495.710 [DAT](INFO): DAT read: 16:54:54.4095 LVL= 24432, 31601, 20594, 32755, AGC= 62, IDX= 508,-0.09,-3.062, 1.843,-2.935, 2.994, PHS= 0.316,-1.104, 0.352, RAW= 151.2,   6.1, CAL= 152.5,  -2.8, ROT= 357.5,   2.8

2025-06-05T16:54:55.711Z,1749142495.711 [DAT](INFO): got valid direction response:
 16:54:54.4095 LVL= 24432, 31601, 20594, 32755, AGC= 62, IDX= 508,-0.09,-3.062, 1.843,-2.935, 2.994, PHS= 0.316,-1.104, 0.352, RAW= 151.2,   6.1, CAL= 152.5,  -2.8, ROT= 357.5,   2.8

2025-06-05T16:54:55.711Z,1749142495.711 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-05T16:54:55.712Z,1749142495.712 [DAT](INFO): direction in FSK: [0.997855,-0.043567,-0.048850]
2025-06-05T16:54:55.712Z,1749142495.712 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:55.720Z,1749142495.720 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=6.057826
2025-06-05T16:54:55.772Z,1749142495.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 1.008733 s,
      deltaX: -0.500000 m,
      approachRate: -0.495671 m/s,
      rangeRepo size: 4

2025-06-05T16:54:55.774Z,1749142495.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.364622 m,
      bearing: 319.266192 deg,
      lat: 36.906276 deg,
      lon: -122.115920 deg,
      deltaT: 1.008733 s,
      deltaX: -0.495876 m,
      approachRate: -0.491583 m/s,
      posRepo size: 4

2025-06-05T16:54:55.783Z,1749142495.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.36 m.
2025-06-05T16:54:55.786Z,1749142495.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.364622 m,
      nav range: 16.218874 m,
      bearing: 319.718010 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.471389 deg/s,
      cmd heading: 319.038327 deg,
      new cmd heading: 318.161117 deg.

2025-06-05T16:54:55.791Z,1749142495.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552959 target range: 16.364622 and range: 16.50 m.
2025-06-05T16:54:55.951Z,1749142495.951 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=6.288590
2025-06-05T16:54:56.170Z,1749142496.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.36 m.
2025-06-05T16:54:56.173Z,1749142496.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.364622 m,
      nav range: 15.985468 m,
      bearing: 319.564740 deg,
      approach rate: -0.591262 m/s,
      LOS rate: -0.393931 deg/s,
      cmd heading: 318.161113 deg,
      new cmd heading: 317.694600 deg.

2025-06-05T16:54:56.178Z,1749142496.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.544817 target range: 16.364622 and range: 16.50 m.
2025-06-05T16:54:56.204Z,1749142496.204 [DAT](INFO): DAT read: Rx Time:16:54:54.9092 

2025-06-05T16:54:56.204Z,1749142496.204 [DAT](INFO): Rx dataTimestamp_ set to:1749142496.204093
2025-06-05T16:54:56.206Z,1749142496.206 [DAT](INFO): DAT read: Bearing 357.5,   2.6 (Local)

2025-06-05T16:54:56.206Z,1749142496.206 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,   2.6 (Local)

2025-06-05T16:54:56.208Z,1749142496.208 [DAT](INFO): DAT read: Range 10 to 50 :    16.1 m (trip time 10.7 ms) speed 0.7

2025-06-05T16:54:56.213Z,1749142496.213 [DAT](INFO): DAT read: 16:54:54.9092 LVL= 23984, 28881, 18594, 31363, AGC= 62, IDX= 505,-0.11, 1.369,-0.007, 1.501, 1.150, PHS= 0.307,-1.110, 0.347, RAW= 151.4,   6.4, CAL= 152.5,  -2.6, ROT= 357.5,   2.6

2025-06-05T16:54:56.215Z,1749142496.215 [DAT](INFO): got valid direction response:
 16:54:54.9092 LVL= 23984, 28881, 18594, 31363, AGC= 62, IDX= 505,-0.11, 1.369,-0.007, 1.501, 1.150, PHS= 0.307,-1.110, 0.347, RAW= 151.4,   6.4, CAL= 152.5,  -2.6, ROT= 357.5,   2.6

2025-06-05T16:54:56.215Z,1749142496.215 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-05T16:54:56.216Z,1749142496.216 [DAT](INFO): direction in FSK: [0.998020,-0.043575,-0.045363]
2025-06-05T16:54:56.217Z,1749142496.217 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:56.224Z,1749142496.224 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=6.561821
2025-06-05T16:54:56.455Z,1749142496.455 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=6.792469
2025-06-05T16:54:56.613Z,1749142496.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.503469 s,
      deltaX: -0.400000 m,
      approachRate: -0.794487 m/s,
      rangeRepo size: 4

2025-06-05T16:54:56.619Z,1749142496.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.967905 m,
      bearing: 318.925354 deg,
      lat: 36.906276 deg,
      lon: -122.115920 deg,
      deltaT: 0.503469 s,
      deltaX: -0.396717 m,
      approachRate: -0.787967 m/s,
      posRepo size: 4

2025-06-05T16:54:56.620Z,1749142496.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.97 m.
2025-06-05T16:54:56.628Z,1749142496.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.967905 m,
      nav range: 15.805550 m,
      bearing: 319.353185 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.393931 deg/s,
      cmd heading: 317.694611 deg,
      new cmd heading: 317.167264 deg.

2025-06-05T16:54:56.629Z,1749142496.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.535613 target range: 15.967905 and range: 16.10 m.
2025-06-05T16:54:56.708Z,1749142496.708 [DAT](INFO): DAT read: Rx Time:16:54:55.4091 

2025-06-05T16:54:56.708Z,1749142496.708 [DAT](INFO): Rx dataTimestamp_ set to:1749142496.708176
2025-06-05T16:54:56.710Z,1749142496.710 [DAT](INFO): DAT read: Bearing 356.4,   3.0 (Local)

2025-06-05T16:54:56.710Z,1749142496.710 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,   3.0 (Local)

2025-06-05T16:54:56.712Z,1749142496.712 [DAT](INFO): DAT read: Range 10 to 50 :    15.9 m (trip time 10.6 ms) speed 0.6

2025-06-05T16:54:56.722Z,1749142496.722 [DAT](INFO): DAT read: 16:54:55.4091 LVL= 24224, 32049, 18818, 32755, AGC= 61, IDX= 504,-0.07, 2.890, 1.511, 3.055, 2.674, PHS= 0.304,-1.116, 0.378, RAW= 152.5,   6.0, CAL= 153.6,  -3.0, ROT= 356.4,   3.0

2025-06-05T16:54:56.723Z,1749142496.723 [DAT](INFO): got valid direction response:
 16:54:55.4091 LVL= 24224, 32049, 18818, 32755, AGC= 61, IDX= 504,-0.07, 2.890, 1.511, 3.055, 2.674, PHS= 0.304,-1.116, 0.378, RAW= 152.5,   6.0, CAL= 153.6,  -3.0, ROT= 356.4,   3.0

2025-06-05T16:54:56.723Z,1749142496.723 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-05T16:54:56.724Z,1749142496.724 [DAT](INFO): direction in FSK: [0.996659,-0.062705,-0.052336]
2025-06-05T16:54:56.724Z,1749142496.724 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:56.740Z,1749142496.740 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=7.077186
2025-06-05T16:54:56.959Z,1749142496.959 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=7.296506
2025-06-05T16:54:57.091Z,1749142497.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.504083 s,
      deltaX: -0.200001 m,
      approachRate: -0.396762 m/s,
      rangeRepo size: 4

2025-06-05T16:54:57.093Z,1749142497.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.769601 m,
      bearing: 317.852714 deg,
      lat: 36.906276 deg,
      lon: -122.115922 deg,
      deltaT: 0.504083 s,
      deltaX: -0.198304 m,
      approachRate: -0.393396 m/s,
      posRepo size: 4

2025-06-05T16:54:57.093Z,1749142497.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.77 m.
2025-06-05T16:54:57.101Z,1749142497.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.769601 m,
      nav range: 15.568127 m,
      bearing: 318.691622 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.393931 deg/s,
      cmd heading: 317.167265 deg,
      new cmd heading: 316.607443 deg.

2025-06-05T16:54:57.106Z,1749142497.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525842 target range: 15.769601 and range: 15.90 m.
2025-06-05T16:54:57.212Z,1749142497.212 [DAT](INFO): DAT read: Rx Time:16:54:55.9088 

2025-06-05T16:54:57.212Z,1749142497.212 [DAT](INFO): Rx dataTimestamp_ set to:1749142497.212174
2025-06-05T16:54:57.216Z,1749142497.216 [DAT](INFO): DAT read: Bearing 355.2,   3.7 (Local)

2025-06-05T16:54:57.216Z,1749142497.216 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.2,   3.7 (Local)

2025-06-05T16:54:57.219Z,1749142497.219 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.6

2025-06-05T16:54:57.226Z,1749142497.226 [DAT](INFO): DAT read: 16:54:55.9088 LVL= 23024, 30449, 19090, 32755, AGC= 62, IDX= 501, 0.04, 2.196, 0.806, 2.394, 1.974, PHS= 0.310,-1.120, 0.417, RAW= 153.6,   5.3, CAL= 154.8,  -3.7, ROT= 355.2,   3.7

2025-06-05T16:54:57.227Z,1749142497.227 [DAT](INFO): got valid direction response:
 16:54:55.9088 LVL= 23024, 30449, 19090, 32755, AGC= 62, IDX= 501, 0.04, 2.196, 0.806, 2.394, 1.974, PHS= 0.310,-1.120, 0.417, RAW= 153.6,   5.3, CAL= 154.8,  -3.7, ROT= 355.2,   3.7

2025-06-05T16:54:57.227Z,1749142497.227 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-05T16:54:57.228Z,1749142497.228 [DAT](INFO): direction in FSK: [0.994416,-0.083503,-0.064532]
2025-06-05T16:54:57.229Z,1749142497.229 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:57.236Z,1749142497.236 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=7.573365
2025-06-05T16:54:57.372Z,1749142497.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503998 s,
      deltaX: -0.400000 m,
      approachRate: -0.793653 m/s,
      rangeRepo size: 4

2025-06-05T16:54:57.374Z,1749142497.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.372882 m,
      bearing: 316.563669 deg,
      lat: 36.906276 deg,
      lon: -122.115922 deg,
      deltaT: 0.503998 s,
      deltaX: -0.396719 m,
      approachRate: -0.787144 m/s,
      posRepo size: 4

2025-06-05T16:54:57.383Z,1749142497.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.37 m.
2025-06-05T16:54:57.385Z,1749142497.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.372882 m,
      nav range: 15.440565 m,
      bearing: 318.465483 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.393931 deg/s,
      cmd heading: 316.607436 deg,
      new cmd heading: 316.270540 deg.

2025-06-05T16:54:57.395Z,1749142497.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519962 target range: 15.372882 and range: 15.50 m.
2025-06-05T16:54:57.464Z,1749142497.464 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=7.801548
2025-06-05T16:54:57.717Z,1749142497.717 [DAT](INFO): DAT read: Rx Time:16:54:56.4087 

2025-06-05T16:54:57.717Z,1749142497.717 [DAT](INFO): Rx dataTimestamp_ set to:1749142497.717041
2025-06-05T16:54:57.719Z,1749142497.719 [DAT](INFO): DAT read: Bearing 354.8,   3.7 (Local)

2025-06-05T16:54:57.719Z,1749142497.719 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.8,   3.7 (Local)

2025-06-05T16:54:57.721Z,1749142497.721 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.4

2025-06-05T16:54:57.726Z,1749142497.726 [DAT](INFO): DAT read: 16:54:56.4087 LVL= 26032, 32417, 17090, 32755, AGC= 60, IDX= 499, 0.24, 2.404, 1.015, 2.617, 2.188, PHS= 0.305,-1.126, 0.427, RAW= 154.0,   5.3, CAL= 155.2,  -3.7, ROT= 354.8,   3.7

2025-06-05T16:54:57.728Z,1749142497.728 [DAT](INFO): got valid direction response:
 16:54:56.4087 LVL= 26032, 32417, 17090, 32755, AGC= 60, IDX= 499, 0.24, 2.404, 1.015, 2.617, 2.188, PHS= 0.305,-1.126, 0.427, RAW= 154.0,   5.3, CAL= 155.2,  -3.7, ROT= 354.8,   3.7

2025-06-05T16:54:57.728Z,1749142497.728 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-05T16:54:57.729Z,1749142497.729 [DAT](INFO): direction in FSK: [0.993809,-0.090444,-0.064532]
2025-06-05T16:54:57.729Z,1749142497.729 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:57.749Z,1749142497.749 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=8.085790
2025-06-05T16:54:57.884Z,1749142497.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504867 s,
      deltaX: -0.200000 m,
      approachRate: -0.396144 m/s,
      rangeRepo size: 4

2025-06-05T16:54:57.886Z,1749142497.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.174575 m,
      bearing: 316.164039 deg,
      lat: 36.906276 deg,
      lon: -122.115925 deg,
      deltaT: 0.504867 s,
      deltaX: -0.198307 m,
      approachRate: -0.392791 m/s,
      posRepo size: 4

2025-06-05T16:54:57.891Z,1749142497.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.17 m.
2025-06-05T16:54:57.893Z,1749142497.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.174575 m,
      nav range: 15.312146 m,
      bearing: 317.470494 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.393931 deg/s,
      cmd heading: 316.270543 deg,
      new cmd heading: 315.665493 deg.

2025-06-05T16:54:57.900Z,1749142497.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509402 target range: 15.174575 and range: 15.30 m.
2025-06-05T16:54:57.969Z,1749142497.969 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=8.305529
2025-06-05T16:54:58.220Z,1749142498.220 [DAT](INFO): DAT read: Rx Time:16:54:56.9084 

2025-06-05T16:54:58.220Z,1749142498.220 [DAT](INFO): Rx dataTimestamp_ set to:1749142498.219887
2025-06-05T16:54:58.221Z,1749142498.221 [DAT](INFO): DAT read: Bearing 355.0,   3.1 (Local)

2025-06-05T16:54:58.222Z,1749142498.222 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.0,   3.1 (Local)

2025-06-05T16:54:58.223Z,1749142498.223 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 mime 9.9 ms) speed 0.4

2025-06-05T16:54:58.228Z,1749142498.228 [DAT](INFO): DAT read: 16:54:56.9084 LVL= 24352, 30177, 19426, 32755, AGDX= 497,-0.31,-1.841, 3.078,-1.631,-2.036, PHS= 0.283,-1.122, 0.402, RAW= 154.0,   6.0, CAL= 155.0,  -3.1, ROT= 355.0,   3.1

2025-06-05T16:54:58.229Z,1749142498.229 [DAT](INFO): unknown deviceResponse_: 16:54:56.9084 LVL= 24352, 30177, 19426, 32755, AGDX= 497,-0.31,-1.841, 3.078,-1.631,-2.036, PHS= 0.283,-1.122, 0.402, RAW= 154.0,   6.0, CAL= 155.0,  -3.1, ROT= 355.0,   3.1

2025-06-05T16:54:58.229Z,1749142498.229 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-06-05T16:54:58.230Z,1749142498.230 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=8.567069
2025-06-05T16:54:58.308Z,1749142498.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:54:58.316Z,1749142498.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.502846 s,
      deltaX: -0.400001 m,
      approachRate: -0.795473 m/s,
      rangeRepo size: 4

2025-06-05T16:54:58.317Z,1749142498.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.17 m.
2025-06-05T16:54:58.324Z,1749142498.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.174575 m,
      nav range: 15.081959 m,
      bearing: 317.250673 deg,
      approach rate: -0.532410 m/s,
      LOS rate: -0.516191 deg/s,
      cmd heading: 315.665498 deg,
      new cmd heading: 314.996003 deg.

2025-06-05T16:54:58.324Z,1749142498.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497717 target range: 15.174575 and range: 14.90 m.
2025-06-05T16:54:58.472Z,1749142498.472 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=8.809778
2025-06-05T16:54:58.724Z,1749142498.724 [DAT](INFO): DAT read: Rx Time:16:54:57.4083 

2025-06-05T16:54:58.724Z,1749142498.724 [DAT](INFO): Rx dataTimestamp_ set to:1749142498.724099
2025-06-05T16:54:58.726Z,1749142498.726 [DAT](INFO): DAT read: Bearing   1.8,   3.1 (Local)

2025-06-05T16:54:58.726Z,1749142498.726 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.8,   3.1 (Local)

2025-06-05T16:54:58.728Z,1749142498.728 [DAT](INFO): DAT read: Range 10 to 50 :    14.7 m (trip time 9.8 ms) speed 0.4

2025-06-05T16:54:58.734Z,1749142498.734 [DAT](INFO): DAT read: 16:54:57.4083 LVL= 22240, 27633, 19618, 31011, AGC= 60, IDX= 512, 0.03, 1.410, 0.100, 1.391, 1.128, PHS= 0.370,-0.981, 0.259, RAW= 145.8,   5.5, CAL= 148.2,  -3.1, ROT=   1.8,   3.1

2025-06-05T16:54:58.735Z,1749142498.735 [DAT](INFO): got valid direction response:
 16:54:57.4083 LVL= 22240, 27633, 19618, 31011, AGC= 60, IDX= 512, 0.03, 1.410, 0.100, 1.391, 1.128, PHS= 0.370,-0.981, 0.259, RAW= 145.8,   5.5, CAL= 148.2,  -3.1, ROT=   1.8,   3.1

2025-06-05T16:54:58.735Z,1749142498.735 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-05T16:54:58.736Z,1749142498.736 [DAT](INFO): direction in FSK: [0.998044,0.031365,-0.054079]
2025-06-05T16:54:58.736Z,1749142498.736 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:58.744Z,1749142498.744 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=9.081336
2025-06-05T16:54:58.794Z,1749142498.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.504212 s,
      deltaX: -0.200000 m,
      approachRate: -0.396658 m/s,
      rangeRepo size: 4

2025-06-05T16:54:58.804Z,1749142498.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.579504 m,
      bearing: 322.706622 deg,
      lat: 36.906276 deg,
      lon: -122.115925 deg,
      deltaT: 1.007058 s,
      deltaX: -0.595071 m,
      approachRate: -0.590900 m/s,
      posRepo size: 4

2025-06-05T16:54:58.805Z,1749142498.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.58 m.
2025-06-05T16:54:58.812Z,1749142498.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.579504 m,
      nav range: 14.835205 m,
      bearing: 317.005556 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.516191 deg/s,
      cmd heading: 314.996003 deg,
      new cmd heading: 314.256419 deg.

2025-06-05T16:54:58.813Z,1749142498.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484809 target range: 14.579504 and range: 14.70 m.
2025-06-05T16:54:58.975Z,1749142498.975 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=9.312481
2025-06-05T16:54:59.228Z,1749142499.228 [DAT](INFO): DAT read: Rx Time:16:54:57.9082 

2025-06-05T16:54:59.228Z,1749142499.228 [DAT](INFO): Rx dataTimestamp_ set to:1749142499.227940
2025-06-05T16:54:59.229Z,1749142499.229 [DAT](INFO): DAT read: Bearing 353.5,   4.3 (Local)

2025-06-05T16:54:59.230Z,1749142499.230 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.5,   4.3 (Local)

2025-06-05T16:54:59.233Z,1749142499.233 [DAT](INFO): DAT read: Range 10 to 50 :    14.4 m (trip time 9.6 ms) speed 0.4

2025-06-05T16:54:59.238Z,1749142499.238 [DAT](INFO): DAT read: 16:54:57.9082 LVL= 21616, 24865, 18178, 29219, AGC= 60, IDX= 509, 0.43,-0.351,-1.751,-0.097,-0.568, PHS= 0.305,-1.135, 0.468, RAW= 155.3,   4.8, CAL= 156.5,  -4.3, ROT= 353.5,   4.3

2025-06-05T16:54:59.239Z,1749142499.239 [DAT](INFO): got valid direction response:
 16:54:57.9082 LVL= 21616, 24865, 18178, 29219, AGC= 60, IDX= 509, 0.43,-0.351,-1.751,-0.097,-0.568, PHS= 0.305,-1.135, 0.468, RAW= 155.3,   4.8, CAL= 156.5,  -4.3, ROT= 353.5,   4.3

2025-06-05T16:54:59.239Z,1749142499.239 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-05T16:54:59.240Z,1749142499.240 [DAT](INFO): direction in FSK: [0.990775,-0.112885,-0.074979]
2025-06-05T16:54:59.240Z,1749142499.240 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:59.249Z,1749142499.249 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=9.586785
2025-06-05T16:54:59.371Z,1749142499.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.503841 s,
      deltaX: -0.300000 m,
      approachRate: -0.595426 m/s,
      rangeRepo size: 4

2025-06-05T16:54:59.373Z,1749142499.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.281962 m,
      bearing: 314.021868 deg,
      lat: 36.906273 deg,
      lon: -122.115926 deg,
      deltaT: 0.503841 s,
      deltaX: -0.297542 m,
      approachRate: -0.590547 m/s,
      posRepo size: 4

2025-06-05T16:54:59.374Z,1749142499.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.28 m.
2025-06-05T16:54:59.385Z,1749142499.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.281962 m,
      nav range: 14.315012 m,
      bearing: 315.534860 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.516191 deg/s,
      cmd heading: 314.256430 deg,
      new cmd heading: 313.371297 deg.

2025-06-05T16:54:59.386Z,1749142499.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469361 target range: 14.281962 and range: 14.40 m.
2025-06-05T16:54:59.484Z,1749142499.484 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=9.820718
2025-06-05T16:54:59.733Z,1749142499.733 [DAT](INFO): DAT read: Rx Time:16:54:58.4081 

2025-06-05T16:54:59.733Z,1749142499.733 [DAT](INFO): Rx dataTimestamp_ set to:1749142499.732778
2025-06-05T16:54:59.734Z,1749142499.734 [DAT](INFO): DAT read: Bearing 354.9,   3.2 (Local)

2025-06-05T16:54:59.735Z,1749142499.735 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.9,   3.2 (Local)

2025-06-05T16:54:59.737Z,1749142499.737 [DAT](INFO): DAT read: Range 10 to 50 :    14.3 m (trip time 9.5 ms) speed 0.4

2025-06-05T16:54:59.741Z,1749142499.741 [DAT](INFO): DAT read: 16:54:58.4081 LVL= 26176, 27569, 18130, 32371, AGC= 60, IDX= 509,-0.04,-1.072,-2.440,-0.858,-1.268, PHS= 0.284,-1.125, 0.406, RAW= 154.1,   6.0, CAL= 155.1,  -3.2, ROT= 354.9,   3.2

2025-06-05T16:54:59.743Z,1749142499.743 [DAT](INFO): got valid direction response:
 16:54:58.4081 LVL= 26176, 27569, 18130, 32371, AGC= 60, IDX= 509,-0.04,-1.072,-2.440,-0.858,-1.268, PHS= 0.284,-1.125, 0.406, RAW= 154.1,   6.0, CAL= 155.1,  -3.2, ROT= 354.9,   3.2

2025-06-05T16:54:59.743Z,1749142499.743 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-05T16:54:59.744Z,1749142499.744 [DAT](INFO): direction in FSK: [0.994488,-0.088756,-0.055822]
2025-06-05T16:54:59.744Z,1749142499.744 [DAT](INFO): publishing direction and range info
2025-06-05T16:54:59.750Z,1749142499.750 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=10.087084
2025-06-05T16:54:59.810Z,1749142499.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.504838 s,
      deltaX: -0.099999 m,
      approachRate: -0.198082 m/s,
      rangeRepo size: 4

2025-06-05T16:54:59.813Z,1749142499.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.182733 m,
      bearing: 315.094071 deg,
      lat: 36.906273 deg,
      lon: -122.115926 deg,
      deltaT: 0.504838 s,
      deltaX: -0.099230 m,
      approachRate: -0.196558 m/s,
      posRepo size: 4

2025-06-05T16:54:59.814Z,1749142499.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.18 m.
2025-06-05T16:54:59.821Z,1749142499.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.182733 m,
      nav range: 14.133786 m,
      bearing: 315.041771 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.516191 deg/s,
      cmd heading: 313.371292 deg,
      new cmd heading: 312.688306 deg.

2025-06-05T16:54:59.822Z,1749142499.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457440 target range: 14.182733 and range: 14.30 m.
2025-06-05T16:54:59.985Z,1749142499.985 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=10.322219
2025-06-05T16:55:00.161Z,1749142500.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.18 m.
2025-06-05T16:55:00.181Z,1749142500.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.182733 m,
      nav range: 13.944459 m,
      bearing: 314.802697 deg,
      approach rate: -0.532505 m/s,
      LOS rate: -0.681553 deg/s,
      cmd heading: 312.688301 deg,
      new cmd heading: 311.961380 deg.

2025-06-05T16:55:00.187Z,1749142500.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444753 target range: 14.182733 and range: 14.30 m.
2025-06-05T16:55:00.236Z,1749142500.236 [DAT](INFO): DAT read: Rx Time:16:54:58.9079 

2025-06-05T16:55:00.237Z,1749142500.237 [DAT](INFO): Rx dataTimestamp_ set to:1749142500.236223
2025-06-05T16:55:00.238Z,1749142500.238 [DAT](INFO): DAT read: Bearing 353.6,   4.0 (Local)

2025-06-05T16:55:00.239Z,1749142500.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,   4.0 (Local)

2025-06-05T16:55:00.241Z,1749142500.241 [DAT](INFO): DAT read: Range 10 to 50 :    14.0 m (trip time 9.3 ms) speed 0.4

2025-06-05T16:55:00.245Z,1749142500.245 [DAT](INFO): DAT read: 16:54:58.9079 LVL= 22128, 29121, 19282, 31123, AGC= 60, IDX= 506, 0.31, 0.030,-1.371, 0.285,-0.178, PHS= 0.296,-1.146, 0.459, RAW= 155.3,   5.2, CAL= 156.4,  -4.0, ROT= 353.6,   4.0

2025-06-05T16:55:00.248Z,1749142500.248 [DAT](INFO): got valid direction response:
 16:54:58.9079 LVL= 22128, 29121, 19282, 31123, AGC= 60, IDX= 506, 0.31, 0.030,-1.371, 0.285,-0.178, PHS= 0.296,-1.146, 0.459, RAW= 155.3,   5.2, CAL= 156.4,  -4.0, ROT= 353.6,   4.0

2025-06-05T16:55:00.248Z,1749142500.248 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-05T16:55:00.249Z,1749142500.249 [DAT](INFO): direction in FSK: [0.991347,-0.111197,-0.069756]
2025-06-05T16:55:00.250Z,1749142500.250 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:00.253Z,1749142500.253 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=10.590313
2025-06-05T16:55:00.489Z,1749142500.489 [DAT](INFO): DAT read: Rx Time:16:54:59.4078 

2025-06-05T16:55:00.491Z,1749142500.491 [DAT](INFO): Rx dataTimestamp_ set to:1749142500.489678
2025-06-05T16:55:00.492Z,1749142500.492 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=10.829407
2025-06-05T16:55:00.743Z,1749142500.743 [DAT](INFO): DAT read: Bearing 355.5,   3.0 (Local)

2025-06-05T16:55:00.744Z,1749142500.744 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.5,   3.0 (Local)

2025-06-05T16:55:00.749Z,1749142500.749 [DAT](INFO): DAT read: Range 10 to 50 :    13.8 m (trip time 9.2 ms) speed 0.4

2025-06-05T16:55:00.763Z,1749142500.763 [DAT](INFO): DAT read: 16:54:59.4078 LVL= 21088, 27601, 19826, 32563, AGC= 59, IDX= 506,-0.21,-0.261,-1.627,-0.064,-0.459, PHS= 0.286,-1.121, 0.392, RAW= 153.6,   6.1, CAL= 154.5,  -3.0, ROT= 355.5,   3.0

2025-06-05T16:55:00.766Z,1749142500.766 [DAT](INFO): got valid direction response:
 16:54:59.4078 LVL= 21088, 27601, 19826, 32563, AGC= 59, IDX= 506,-0.21,-0.261,-1.627,-0.064,-0.459, PHS= 0.286,-1.121, 0.392, RAW= 153.6,   6.1, CAL= 154.5,  -3.0, ROT= 355.5,   3.0

2025-06-05T16:55:00.774Z,1749142500.774 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-05T16:55:00.775Z,1749142500.775 [DAT](INFO): direction in FSK: [0.995551,-0.078351,-0.052336]
2025-06-05T16:55:00.775Z,1749142500.775 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:00.791Z,1749142500.791 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.128183
2025-06-05T16:55:00.970Z,1749142500.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 1.007168 s,
      deltaX: -0.500000 m,
      approachRate: -0.496442 m/s,
      rangeRepo size: 4

2025-06-05T16:55:00.980Z,1749142500.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.686793 m,
      bearing: 315.375039 deg,
      lat: 36.906273 deg,
      lon: -122.115926 deg,
      deltaT: 1.007168 s,
      deltaX: -0.495939 m,
      approachRate: -0.492410 m/s,
      posRepo size: 4

2025-06-05T16:55:00.987Z,1749142500.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.69 m.
2025-06-05T16:55:00.994Z,1749142500.994 [DAT](INFO): DAT read: Rx Time:16:54:59.9075 

2025-06-05T16:55:00.995Z,1749142500.995 [DAT](INFO): Rx dataTimestamp_ set to:1749142500.994282
2025-06-05T16:55:00.997Z,1749142500.997 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.333708
2025-06-05T16:55:01.012Z,1749142501.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.686793 m,
      nav range: 13.542350 m,
      bearing: 314.314671 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.681553 deg/s,
      cmd heading: 311.961377 deg,
      new cmd heading: 310.310055 deg.

2025-06-05T16:55:01.020Z,1749142501.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.415932 target range: 13.686793 and range: 13.80 m.
2025-06-05T16:55:01.244Z,1749142501.244 [DAT](INFO): DAT read: Bearing 354.5,   3.6 (Local)

2025-06-05T16:55:01.244Z,1749142501.244 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.5,   3.6 (Local)

2025-06-05T16:55:01.246Z,1749142501.246 [DAT](INFO): DAT read: Range 10 to 50 :    13.4 m (trip time 8.9 ms) speed 0.4

2025-06-05T16:55:01.253Z,1749142501.253 [DAT](INFO): DAT read: 16:54:59.9075 LVL= 21456, 24881, 20466, 28995, AGC= 60, IDX= 503, 0.04, 0.963,-0.434, 1.192, 0.757, PHS= 0.295,-1.143, 0.433, RAW= 154.5,   5.6, CAL= 155.5,  -3.6, ROT= 354.5,   3.6

2025-06-05T16:55:01.259Z,1749142501.259 [DAT](INFO): got valid direction response:
 16:54:59.9075 LVL= 21456, 24881, 20466, 28995, AGC= 60, IDX= 503, 0.04, 0.963,-0.434, 1.192, 0.757, PHS= 0.295,-1.143, 0.433, RAW= 154.5,   5.6, CAL= 155.5,  -3.6, ROT= 354.5,   3.6

2025-06-05T16:55:01.260Z,1749142501.260 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-05T16:55:01.261Z,1749142501.261 [DAT](INFO): direction in FSK: [0.993432,-0.095657,-0.062791]
2025-06-05T16:55:01.262Z,1749142501.262 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:01.267Z,1749142501.267 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.604256
2025-06-05T16:55:01.427Z,1749142501.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.502652 s,
      deltaX: -0.400001 m,
      approachRate: -0.795780 m/s,
      rangeRepo size: 4

2025-06-05T16:55:01.429Z,1749142501.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.290074 m,
      bearing: 313.198530 deg,
      lat: 36.906273 deg,
      lon: -122.115926 deg,
      deltaT: 0.502652 s,
      deltaX: -0.396719 m,
      approachRate: -0.789252 m/s,
      posRepo size: 4

2025-06-05T16:55:01.431Z,1749142501.431 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:55:01.434Z,1749142501.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.29 m.
2025-06-05T16:55:01.437Z,1749142501.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.290074 m,
      nav range: 13.295934 m,
      bearing: 313.978723 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.681553 deg/s,
      cmd heading: 310.310056 deg,
      new cmd heading: 309.374456 deg.

2025-06-05T16:55:01.442Z,1749142501.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399603 target range: 13.290074 and range: 13.40 m.
2025-06-05T16:55:01.499Z,1749142501.499 [DAT](INFO): DAT read: Rx Time:16:55:00.4075 

2025-06-05T16:55:01.500Z,1749142501.500 [DAT](INFO): Rx dataTimestamp_ set to:1749142501.499443
2025-06-05T16:55:01.504Z,1749142501.504 [DAT](INFO): DAT read: Bearing 354.8,   3.3 (Local)

2025-06-05T16:55:01.505Z,1749142501.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.8,   3.3 (Local)

2025-06-05T16:55:01.508Z,1749142501.508 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.845169
2025-06-05T16:55:01.754Z,1749142501.754 [DAT](INFO): DAT read: Range 10 to 50 :    13.4 m (trip time 8.9 ms) speed 0.4

2025-06-05T16:55:01.779Z,1749142501.779 [DAT](INFO): DAT read: 16:55:00.4075 LVL= 24240, 30577, 24610, 32755, AGC= 61, IDX= 501, 0.35, 1.380,-0.022, 1.598, 1.173, PHS= 0.295,-1.148, 0.422, RAW= 154.2,   5.8, CAL= 155.2,  -3.3, ROT= 354.8,   3.3

2025-06-05T16:55:01.780Z,1749142501.780 [DAT](INFO): got valid direction response:
 16:55:00.4075 LVL= 24240, 30577, 24610, 32755, AGC= 61, IDX= 501, 0.35, 1.380,-0.022, 1.598, 1.173, PHS= 0.295,-1.148, 0.422, RAW= 154.2,   5.8, CAL= 155.2,  -3.3, ROT= 354.8,   3.3

2025-06-05T16:55:01.780Z,1749142501.780 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-05T16:55:01.799Z,1749142501.799 [DAT](INFO): direction in FSK: [0.994233,-0.090482,-0.057564]
2025-06-05T16:55:01.799Z,1749142501.799 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:01.811Z,1749142501.811 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.148400
2025-06-05T16:55:01.895Z,1749142501.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.505441 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:01.897Z,1749142501.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.290030 m,
      bearing: 313.012914 deg,
      lat: 36.906273 deg,
      lon: -122.115928 deg,
      deltaT: 0.505441 s,
      deltaX: -0.000045 m,
      approachRate: -0.000089 m/s,
      posRepo size: 4

2025-06-05T16:55:01.904Z,1749142501.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.29 m.
2025-06-05T16:55:01.916Z,1749142501.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.290030 m,
      nav range: 13.116624 m,
      bearing: 313.359692 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.681553 deg/s,
      cmd heading: 309.374457 deg,
      new cmd heading: 308.451371 deg.

2025-06-05T16:55:01.917Z,1749142501.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.383492 target range: 13.290030 and range: 13.40 m.
2025-06-05T16:55:02.004Z,1749142502.004 [DAT](INFO): DAT read: Rx Time:16:55:00.9072 

2025-06-05T16:55:02.005Z,1749142502.005 [DAT](INFO): Rx dataTimestamp_ set to:1749142502.004054
2025-06-05T16:55:02.009Z,1749142502.009 [DAT](INFO): DAT read: Bearing 356.6,   2.2 (Local)

2025-06-05T16:55:02.010Z,1749142502.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,   2.2 (Local)

2025-06-05T16:55:02.013Z,1749142502.013 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.349465
2025-06-05T16:55:02.253Z,1749142502.253 [DAT](INFO): DAT read: Range 10 to 50 :    12.9 m (trip time 8.6 ms) speed 0.5

2025-06-05T16:55:02.257Z,1749142502.257 [DAT](INFO): DAT read: 16:55:00.9072 LVL= 22512, 25009, 21362, 29715, AGC= 60, IDX= 499,-0.27,-1.498,-2.885,-1.332,-1.695, PHS= 0.285,-1.143, 0.361, RAW= 152.6,   6.8, CAL= 153.4,  -2.2, ROT= 356.6,   2.2

2025-06-05T16:55:02.259Z,1749142502.259 [DAT](INFO): got valid direction response:
 16:55:00.9072 LVL= 22512, 25009, 21362, 29715, AGC= 60, IDX= 499,-0.27,-1.498,-2.885,-1.332,-1.695, PHS= 0.285,-1.143, 0.361, RAW= 152.6,   6.8, CAL= 153.4,  -2.2, ROT= 356.6,   2.2

2025-06-05T16:55:02.259Z,1749142502.259 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-05T16:55:02.260Z,1749142502.260 [DAT](INFO): direction in FSK: [0.997504,-0.059263,-0.038388]
2025-06-05T16:55:02.260Z,1749142502.260 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:02.265Z,1749142502.265 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=12.602403
2025-06-05T16:55:02.293Z,1749142502.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.502899 s,
      deltaX: -0.500000 m,
      approachRate: -0.994235 m/s,
      rangeRepo size: 4

2025-06-05T16:55:02.307Z,1749142502.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.794133 m,
      bearing: 314.273798 deg,
      lat: 36.906273 deg,
      lon: -122.115926 deg,
      deltaT: 0.502899 s,
      deltaX: -0.495896 m,
      approachRate: -0.986075 m/s,
      posRepo size: 4

2025-06-05T16:55:02.308Z,1749142502.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.79 m.
2025-06-05T16:55:02.315Z,1749142502.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.794133 m,
      nav range: 12.834899 m,
      bearing: 313.482543 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.681553 deg/s,
      cmd heading: 308.451370 deg,
      new cmd heading: 307.605278 deg.

2025-06-05T16:55:02.316Z,1749142502.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368725 target range: 12.794133 and range: 12.90 m.
2025-06-05T16:55:02.435Z,1749142502.435 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:55:02.508Z,1749142502.508 [DAT](INFO): DAT read: Rx Time:16:55:01.4071 

2025-06-05T16:55:02.510Z,1749142502.510 [DAT](INFO): Rx dataTimestamp_ set to:1749142502.509040
2025-06-05T16:55:02.512Z,1749142502.512 [DAT](INFO): DAT read: Bearing 358.0,   1.8 (Local)

2025-06-05T16:55:02.513Z,1749142502.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,   1.8 (Local)

2025-06-05T16:55:02.519Z,1749142502.519 [DAT](INFO): DAT read: Range 10 to 50 :    12.8 m (trip time 8.5 ms) speed 0.5

2025-06-05T16:55:02.521Z,1749142502.521 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-06-05T16:55:02.526Z,1749142502.526 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=12.862086
2025-06-05T16:55:02.718Z,1749142502.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:02.732Z,1749142502.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.258102 s,
      deltaX: -0.099999 m,
      approachRate: -0.387442 m/s,
      rangeRepo size: 4

2025-06-05T16:55:02.733Z,1749142502.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.79 m.
2025-06-05T16:55:02.740Z,1749142502.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.794133 m,
      nav range: 12.600615 m,
      bearing: 313.180360 deg,
      approach rate: -0.539965 m/s,
      LOS rate: -0.709401 deg/s,
      cmd heading: 307.605274 deg,
      new cmd heading: 306.681952 deg.

2025-06-05T16:55:02.741Z,1749142502.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.352610 target range: 12.794133 and range: 12.80 m.
2025-06-05T16:55:02.764Z,1749142502.764 [DAT](INFO): DAT read: 16:55:01.4071 LVL= 26416, 32049, 21330, 32755, AGC= 60, IDX= 498,-0.08, 0.181,-1.209, 0.304,-0.025, PHS= 0.294,-1.137, 0.326, RAW= 151.1,   7.2, CAL= 152.0,  -1.8, ROT= 358.0,   1.8

2025-06-05T16:55:02.767Z,1749142502.767 [DAT](INFO): got valid direction response:
 16:55:01.4071 LVL= 26416, 32049, 21330, 32755, AGC= 60, IDX= 498,-0.08, 0.181,-1.209, 0.304,-0.025, PHS= 0.294,-1.137, 0.326, RAW= 151.1,   7.2, CAL= 152.0,  -1.8, ROT= 358.0,   1.8

2025-06-05T16:55:02.768Z,1749142502.768 [DAT](INFO): #Rx 32: Read direction message, but no range.
2025-06-05T16:55:02.776Z,1749142502.776 [DAT](INFO): direction in FSK: [0.998898,-0.034882,-0.031411]
2025-06-05T16:55:02.801Z,1749142502.801 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=13.138434
2025-06-05T16:55:03.010Z,1749142503.010 [DAT](INFO): DAT read: Rx Time:16:55:01.9068 

2025-06-05T16:55:03.011Z,1749142503.011 [DAT](INFO): Rx dataTimestamp_ set to:1749142503.010255
2025-06-05T16:55:03.013Z,1749142503.013 [DAT](INFO): DAT read: Bearing 358.1,   2.3 (Local)

2025-06-05T16:55:03.015Z,1749142503.015 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.1,   2.3 (Local)

2025-06-05T16:55:03.019Z,1749142503.019 [DAT](INFO): DAT read: Range 10 to 50 :    12.5 m (trip time 8.3 ms) speed 0.4

2025-06-05T16:55:03.021Z,1749142503.021 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-06-05T16:55:03.029Z,1749142503.029 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=13.366029
2025-06-05T16:55:03.224Z,1749142503.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.501215 s,
      deltaX: -0.300000 m,
      approachRate: -0.598546 m/s,
      rangeRepo size: 4

2025-06-05T16:55:03.226Z,1749142503.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.397382 m,
      bearing: 315.094912 deg,
      lat: 36.906274 deg,
      lon: -122.115925 deg,
      deltaT: 0.759317 s,
      deltaX: -0.396751 m,
      approachRate: -0.522511 m/s,
      posRepo size: 4

2025-06-05T16:55:03.227Z,1749142503.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.40 m.
2025-06-05T16:55:03.230Z,1749142503.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.397382 m,
      nav range: 12.307843 m,
      bearing: 313.413356 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.709401 deg/s,
      cmd heading: 306.681941 deg,
      new cmd heading: 305.623011 deg.

2025-06-05T16:55:03.235Z,1749142503.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.334128 target range: 12.397382 and range: 12.50 m.
2025-06-05T16:55:03.263Z,1749142503.263 [DAT](INFO): DAT read: 16:55:01.9068 LVL= 24640, 32753, 24034, 32755, AGC= 59, IDX= 495, 0.08,-0.226,-1.631,-0.112,-0.451, PHS= 0.313,-1.133, 0.336, RAW= 150.8,   6.7, .9,  -2.3, ROT= 358.1,   2.3

2025-06-05T16:55:03.265Z,1749142503.265 [DAT](INFO): unknown deviceResponse_: 16:55:01.9068 LVL= 24640, 32753, 24034, 32755, AGC= 59, IDX= 495, 0.08,-0.226,-1.631,-0.112,-0.451, PHS= 0.313,-1.133, 0.336, RAW= 150.8,   6.7, .9,  -2.3, ROT= 358.1,   2.3

2025-06-05T16:55:03.266Z,1749142503.266 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=13.602723
2025-06-05T16:55:03.514Z,1749142503.514 [DAT](INFO): DAT read: Rx Time:16:55:02.4068 

2025-06-05T16:55:03.516Z,1749142503.516 [DAT](INFO): Rx dataTimestamp_ set to:1749142503.515216
2025-06-05T16:55:03.519Z,1749142503.519 [DAT](INFO): DAT read: Bearing 358.5,   2.1 (Local)

2025-06-05T16:55:03.520Z,1749142503.520 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,   2.1 (Local)

2025-06-05T16:55:03.524Z,1749142503.524 [DAT](INFO): DAT read: Range 10 to 50 :    12.5 m (trip time 8.3 ms) speed 0.5

2025-06-05T16:55:03.525Z,1749142503.525 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-06-05T16:55:03.528Z,1749142503.528 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=13.865152
2025-06-05T16:55:03.709Z,1749142503.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504961 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:03.709Z,1749142503.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.40 m.
2025-06-05T16:55:03.726Z,1749142503.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.397382 m,
      nav range: 12.045729 m,
      bearing: 313.097892 deg,
      approach rate: -0.540795 m/s,
      LOS rate: -0.665026 deg/s,
      cmd heading: 305.623016 deg,
      new cmd heading: 304.656126 deg.

2025-06-05T16:55:03.727Z,1749142503.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317253 target range: 12.397382 and range: 12.50 m.
2025-06-05T16:55:03.767Z,1749142503.767 [DAT](INFO): DAT read: 16:55:02.4068 LVL= 21936, 27041, 22098, 32579, AGC= 59, IDX= 510, 0.23, 1.062,-0.365, 1.164, 0.830, PHS= 0.320,-1.148, 0.331, RAW= 150.4,   6.8, CAL= 151.5,  -2.1, ROT= 358.5,   2.1

2025-06-05T16:55:03.768Z,1749142503.768 [DAT](INFO): got valid direction response:
 16:55:02.4068 LVL= 21936, 27041, 22098, 32579, AGC= 59, IDX= 510, 0.23, 1.062,-0.365, 1.164, 0.830, PHS= 0.320,-1.148, 0.331, RAW= 150.4,   6.8, CAL= 151.5,  -2.1, ROT= 358.5,   2.1

2025-06-05T16:55:03.768Z,1749142503.768 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-06-05T16:55:03.769Z,1749142503.769 [DAT](INFO): direction in FSK: [0.998986,-0.026160,-0.036644]
2025-06-05T16:55:03.773Z,1749142503.773 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=14.109857
2025-06-05T16:55:04.019Z,1749142504.019 [DAT](INFO): DAT read: Rx Time:16:55:02.9065 

2025-06-05T16:55:04.021Z,1749142504.021 [DAT](INFO): Rx dataTimestamp_ set to:1749142504.019730
2025-06-05T16:55:04.024Z,1749142504.024 [DAT](INFO): DAT read: Bearing   0.3,   1.4 (Local)

2025-06-05T16:55:04.025Z,1749142504.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.3,   1.4 (Local)

2025-06-05T16:55:04.029Z,1749142504.029 [DAT](INFO): DAT read: Range 10 to 50 :    12.0 m (trip time 8.0 ms) speed 0.5

2025-06-05T16:55:04.032Z,1749142504.032 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-06-05T16:55:04.036Z,1749142504.036 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=14.372642
2025-06-05T16:55:04.096Z,1749142504.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.504514 s,
      deltaX: -0.500000 m,
      approachRate: -0.991053 m/s,
      rangeRepo size: 4

2025-06-05T16:55:04.103Z,1749142504.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.901466 m,
      bearing: 313.012501 deg,
      lat: 36.906274 deg,
      lon: -122.115926 deg,
      deltaT: 1.009475 s,
      deltaX: -0.495915 m,
      approachRate: -0.491261 m/s,
      posRepo size: 4

2025-06-05T16:55:04.104Z,1749142504.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-06-05T16:55:04.109Z,1749142504.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.901466 m,
      nav range: 11.817988 m,
      bearing: 312.605159 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.665026 deg/s,
      cmd heading: 304.656135 deg,
      new cmd heading: 303.884180 deg.

2025-06-05T16:55:04.118Z,1749142504.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303780 target range: 11.901466 and range: 12.00 m.
2025-06-05T16:55:04.271Z,1749142504.271 [DAT](INFO): DAT read: 16:55:02.9065 LVL= 24784, 32625, 24450, 32755, AGC= 60, IDX= 507, 0.33,-0.840,-2.266,-0.795,-1.082, PHS= 0.330,-1.137, 0.284, RAW= 148.4,   7.3, CAL= 149.7,  -1.4, ROT=   0.3,   1.4

2025-06-05T16:55:04.272Z,1749142504.272 [DAT](INFO): got valid direction response:
 16:55:02.9065 LVL= 24784, 32625, 24450, 32755, AGC= 60, IDX= 507, 0.33,-0.840,-2.266,-0.795,-1.082, PHS= 0.330,-1.137, 0.284, RAW= 148.4,   7.3, CAL= 149.7,  -1.4, ROT=   0.3,   1.4

2025-06-05T16:55:04.272Z,1749142504.272 [DAT](INFO): #Rx 37: Read direction message, but no range.
2025-06-05T16:55:04.273Z,1749142504.273 [DAT](INFO): direction in FSK: [0.999688,0.005234,-0.024432]
2025-06-05T16:55:04.277Z,1749142504.277 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=14.613991
2025-06-05T16:55:04.431Z,1749142504.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-06-05T16:55:04.439Z,1749142504.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.901466 m,
      nav range: 11.600305 m,
      bearing: 312.338033 deg,
      approach rate: -0.657190 m/s,
      LOS rate: -0.821589 deg/s,
      cmd heading: 303.884187 deg,
      new cmd heading: 303.067827 deg.

2025-06-05T16:55:04.440Z,1749142504.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289531 target range: 11.901466 and range: 12.00 m.
2025-06-05T16:55:04.525Z,1749142504.525 [DAT](INFO): DAT read: Rx Time:16:55:03.4064 

2025-06-05T16:55:04.527Z,1749142504.527 [DAT](INFO): Rx dataTimestamp_ set to:1749142504.525547
2025-06-05T16:55:04.531Z,1749142504.531 [DAT](INFO): DAT read: Bearing   2.0,   0.1 (Local)

2025-06-05T16:55:04.532Z,1749142504.532 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,   0.1 (Local)

2025-06-05T16:55:04.539Z,1749142504.539 [DAT](INFO): DAT read: Range 10 to 50 :    11.9 m (trip time 7.9 ms) speed 0.6

2025-06-05T16:55:04.546Z,1749142504.546 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-06-05T16:55:04.552Z,1749142504.552 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=14.889030
2025-06-05T16:55:04.775Z,1749142504.775 [DAT](INFO): DAT read: 16:55:03.4064 LVL= 23856, 29073, 21730, 32755, AGC= 58, IDX= 506, 0.38, 0.005,-1.429,-0.004,-0.236, PHS= 0.330,-1.145, 0.229, RAW= 146.5,   8.3, CAL= 148.0,  -0.1, ROT=   2.0,   0.1

2025-06-05T16:55:04.776Z,1749142504.776 [DAT](INFO): got valid direction response:
 16:55:03.4064 LVL= 23856, 29073, 21730, 32755, AGC= 58, IDX= 506, 0.38, 0.005,-1.429,-0.004,-0.236, PHS= 0.330,-1.145, 0.229, RAW= 146.5,   8.3, CAL= 148.0,  -0.1, ROT=   2.0,   0.1

2025-06-05T16:55:04.776Z,1749142504.776 [DAT](INFO): #Rx 39: Read direction message, but no range.
2025-06-05T16:55:04.777Z,1749142504.777 [DAT](INFO): direction in FSK: [0.999389,0.034899,-0.001745]
2025-06-05T16:55:04.781Z,1749142504.781 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=15.117984
2025-06-05T16:55:04.889Z,1749142504.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.505817 s,
      deltaX: -0.100000 m,
      approachRate: -0.197701 m/s,
      rangeRepo size: 4

2025-06-05T16:55:04.896Z,1749142504.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.802250 m,
      bearing: 315.025929 deg,
      lat: 36.906275 deg,
      lon: -122.115925 deg,
      deltaT: 0.505817 s,
      deltaX: -0.099216 m,
      approachRate: -0.196151 m/s,
      posRepo size: 4

2025-06-05T16:55:04.897Z,1749142504.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.80 m.
2025-06-05T16:55:04.909Z,1749142504.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.802250 m,
      nav range: 11.348048 m,
      bearing: 312.688543 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.821589 deg/s,
      cmd heading: 303.067815 deg,
      new cmd heading: 301.928175 deg.

2025-06-05T16:55:04.909Z,1749142504.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.269641 target range: 11.802250 and range: 11.90 m.
2025-06-05T16:55:05.037Z,1749142505.037 [DAT](INFO): DAT read: Rx Time:16:55:03.9060 

2025-06-05T16:55:05.039Z,1749142505.039 [DAT](INFO): Rx dataTimestamp_ set to:1749142505.037266
2025-06-05T16:55:05.042Z,1749142505.042 [DAT](INFO): DAT read: Bearing   3.3,  -0.8 (Local)

2025-06-05T16:55:05.042Z,1749142505.042 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,  -0.8 (Local)

2025-06-05T16:55:05.044Z,1749142505.044 [DAT](INFO): DAT read: Range 10 to 50 :    11.3 m (trip time 7.5 ms) speed 0.6

2025-06-05T16:55:05.045Z,1749142505.045 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-06-05T16:55:05.048Z,1749142505.048 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=15.384510
2025-06-05T16:55:05.244Z,1749142505.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:05.256Z,1749142505.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.511719 s,
      deltaX: -0.599999 m,
      approachRate: -1.172517 m/s,
      rangeRepo size: 4

2025-06-05T16:55:05.256Z,1749142505.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.80 m.
2025-06-05T16:55:05.265Z,1749142505.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.802250 m,
      nav range: 11.121824 m,
      bearing: 312.401675 deg,
      approach rate: -0.633085 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 301.928184 deg,
      new cmd heading: 301.050146 deg.

2025-06-05T16:55:05.266Z,1749142505.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.254316 target range: 11.802250 and range: 11.30 m.
2025-06-05T16:55:05.279Z,1749142505.279 [DAT](INFO): DAT read: 16:55:03.9060 LVL= 23536, 32753, 24210, 32755, AGC= 57, IDX= 503, 0.26,-0.098,-1.544,-0.159,-0.349, PHS= 0.339,-1.148, 0.187, RAW= 144.7,   8.8, CAL= 146.7,   0.8, ROT=   3.3,  -0.8

2025-06-05T16:55:05.281Z,1749142505.281 [DAT](INFO): got valid direction response:
 16:55:03.9060 LVL= 23536, 32753, 24210, 32755, AGC= 57, IDX= 503, 0.26,-0.098,-1.544,-0.159,-0.349, PHS= 0.339,-1.148, 0.187, RAW= 144.7,   8.8, CAL= 146.7,   0.8, ROT=   3.3,  -0.8

2025-06-05T16:55:05.281Z,1749142505.281 [DAT](INFO): #Rx 41: Read direction message, but no range.
2025-06-05T16:55:05.283Z,1749142505.283 [DAT](INFO): direction in FSK: [0.998245,0.057558,0.013962]
2025-06-05T16:55:05.286Z,1749142505.286 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=15.623260
2025-06-05T16:55:05.534Z,1749142505.534 [DAT](INFO): DAT read: Rx Time:16:55:04.4058 

2025-06-05T16:55:05.536Z,1749142505.536 [DAT](INFO): Rx dataTimestamp_ set to:1749142505.534744
2025-06-05T16:55:05.541Z,1749142505.541 [DAT](INFO): DAT read: Bearing   3.7,  -1.2 (Local)

2025-06-05T16:55:05.543Z,1749142505.543 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.7,  -1.2 (Local)

2025-06-05T16:55:05.548Z,1749142505.548 [DAT](INFO): DAT read: Range 10 to 50 :    11.0 m (trip time 7.3 ms) speed 0.5

2025-06-05T16:55:05.561Z,1749142505.561 [DAT](INFO): DAT read: 16:55:04.4058 LVL= 23728, 32753, 23954, 32755, AGC= 57, IDX= 501, 0.16, 0.555,-0.917, 0.476, 0.297, PHS= 0.346,-1.167, 0.176, RAW= 144.1,   9.0, CAL= 146.3,   1.2, ROT=   3.7,  -1.2

2025-06-05T16:55:05.567Z,1749142505.567 [DAT](INFO): got valid direction response:
 16:55:04.4058 LVL= 23728, 32753, 23954, 32755, AGC= 57, IDX= 501, 0.16, 0.555,-0.917, 0.476, 0.297, PHS= 0.346,-1.167, 0.176, RAW= 144.1,   9.0, CAL= 146.3,   1.2, ROT=   3.7,  -1.2

2025-06-05T16:55:05.567Z,1749142505.567 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-05T16:55:05.568Z,1749142505.568 [DAT](INFO): direction in FSK: [0.997697,0.064518,0.020942]
2025-06-05T16:55:05.568Z,1749142505.568 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:05.576Z,1749142505.576 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=15.913599
2025-06-05T16:55:05.719Z,1749142505.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.497478 s,
      deltaX: -0.300000 m,
      approachRate: -0.603042 m/s,
      rangeRepo size: 4

2025-06-05T16:55:05.756Z,1749142505.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.909643 m,
      bearing: 315.158820 deg,
      lat: 36.906277 deg,
      lon: -122.115925 deg,
      deltaT: 1.009197 s,
      deltaX: -0.892607 m,
      approachRate: -0.884472 m/s,
      posRepo size: 4

2025-06-05T16:55:05.756Z,1749142505.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.91 m.
2025-06-05T16:55:05.764Z,1749142505.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.909643 m,
      nav range: 10.994431 m,
      bearing: 313.026078 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 301.050150 deg,
      new cmd heading: 300.027420 deg.

2025-06-05T16:55:05.765Z,1749142505.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.236466 target range: 10.909643 and range: 11.00 m.
2025-06-05T16:55:05.783Z,1749142505.783 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=16.120787
2025-06-05T16:55:06.039Z,1749142506.039 [DAT](INFO): DAT read: Rx Time:16:55:04.9055 

2025-06-05T16:55:06.040Z,1749142506.040 [DAT](INFO): Rx dataTimestamp_ set to:1749142506.039256
2025-06-05T16:55:06.043Z,1749142506.043 [DAT](INFO): DAT read: Bearing   5.2,  -2.6 (Local)

2025-06-05T16:55:06.044Z,1749142506.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.2,  -2.6 (Local)

2025-06-05T16:55:06.047Z,1749142506.047 [DAT](INFO): DAT read: Range 10 to 50 :    10.5 m (trip time 7.0 ms) speed 0.6

2025-06-05T16:55:06.057Z,1749142506.057 [DAT](INFO): DAT read: 16:55:04.9055 LVL= 29856, 32753, 26194, 32755, AGC= 57, IDX= 498, 0.12,-1.030,-2.520,-1.171,-1.296, PHS= 0.354,-1.177, 0.122, RAW= 141.9,   9.8, CAL= 144.8,   2.6, ROT=   5.2,  -2.6

2025-06-05T16:55:06.059Z,1749142506.059 [DAT](INFO): got valid direction response:
 16:55:04.9055 LVL= 29856, 32753, 26194, 32755, AGC= 57, IDX= 498, 0.12,-1.030,-2.520,-1.171,-1.296, PHS= 0.354,-1.177, 0.122, RAW= 141.9,   9.8, CAL= 144.8,   2.6, ROT=   5.2,  -2.6

2025-06-05T16:55:06.059Z,1749142506.059 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-06-05T16:55:06.060Z,1749142506.060 [DAT](INFO): direction in FSK: [0.994859,0.090539,0.045363]
2025-06-05T16:55:06.060Z,1749142506.060 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:06.065Z,1749142506.065 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=16.402534
2025-06-05T16:55:06.227Z,1749142506.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.504512 s,
      deltaX: -0.500000 m,
      approachRate: -0.991057 m/s,
      rangeRepo size: 4

2025-06-05T16:55:06.229Z,1749142506.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.413737 m,
      bearing: 315.880437 deg,
      lat: 36.906279 deg,
      lon: -122.115923 deg,
      deltaT: 0.504512 s,
      deltaX: -0.495906 m,
      approachRate: -0.982942 m/s,
      posRepo size: 4

2025-06-05T16:55:06.230Z,1749142506.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.41 m.
2025-06-05T16:55:06.241Z,1749142506.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.413737 m,
      nav range: 10.714671 m,
      bearing: 314.027670 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 300.027425 deg,
      new cmd heading: 298.672975 deg.

2025-06-05T16:55:06.242Z,1749142506.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.212827 target range: 10.413737 and range: 10.50 m.
2025-06-05T16:55:06.289Z,1749142506.289 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=16.626099
2025-06-05T16:55:06.543Z,1749142506.543 [DAT](INFO): DAT read: Rx Time:16:55:05.4055 

2025-06-05T16:55:06.544Z,1749142506.544 [DAT](INFO): Rx dataTimestamp_ set to:1749142506.543337
2025-06-05T16:55:06.546Z,1749142506.546 [DAT](INFO): DAT read: Bearing   6.2,  -4.7 (Local)

2025-06-05T16:55:06.547Z,1749142506.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.2,  -4.7 (Local)

2025-06-05T16:55:06.550Z,1749142506.550 [DAT](INFO): DAT read: Range 10 to 50 :    10.5 m (trip time 7.0 ms) speed 0.5

2025-06-05T16:55:06.556Z,1749142506.556 [DAT](INFO): DAT read: 16:55:05.4055 LVL= 31600, 32753, 24722, 32755, AGC= 55, IDX= 498, 0.13,-0.348,-1.836,-0.523,-0.588, PHS= 0.328,-1.201, 0.062, RAW= 140.6,  11.4, CAL= 143.8,   4.7, ROT=   6.2,  -4.7

2025-06-05T16:55:06.557Z,1749142506.557 [DAT](INFO): got valid direction response:
 16:55:05.4055 LVL= 31600, 32753, 24722, 32755, AGC= 55, IDX= 498, 0.13,-0.348,-1.836,-0.523,-0.588, PHS= 0.328,-1.201, 0.062, RAW= 140.6,  11.4, CAL= 143.8,   4.7, ROT=   6.2,  -4.7

2025-06-05T16:55:06.557Z,1749142506.557 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-06-05T16:55:06.559Z,1749142506.559 [DAT](INFO): direction in FSK: [0.990808,0.107636,0.081939]
2025-06-05T16:55:06.559Z,1749142506.559 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:06.563Z,1749142506.563 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=16.900169
2025-06-05T16:55:06.688Z,1749142506.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.504081 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:06.760Z,1749142506.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.413737 m,
      bearing: 315.348457 deg,
      lat: 36.906279 deg,
      lon: -122.115921 deg,
      deltaT: 0.504081 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-06-05T16:55:06.760Z,1749142506.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.41 m.
2025-06-05T16:55:06.773Z,1749142506.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.413737 m,
      nav range: 10.287403 m,
      bearing: 314.688771 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 298.672971 deg,
      new cmd heading: 297.522245 deg.

2025-06-05T16:55:06.774Z,1749142506.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.192743 target range: 10.413737 and range: 10.50 m.
2025-06-05T16:55:06.793Z,1749142506.793 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=17.130087
2025-06-05T16:55:07.044Z,1749142507.044 [DAT](INFO): DAT read: Rx Time:16:55:05.9052 

2025-06-05T16:55:07.044Z,1749142507.044 [DAT](INFO): Rx dataTimestamp_ set to:1749142507.044030
2025-06-05T16:55:07.046Z,1749142507.046 [DAT](INFO): DAT read: Bearing   6.6,  -5.6 (Local)

2025-06-05T16:55:07.046Z,1749142507.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.6,  -5.6 (Local)

2025-06-05T16:55:07.049Z,1749142507.049 [DAT](INFO): DAT read: Range 10 to 50 :    10.1 m (trip time 6.7 ms) speed 0.5

2025-06-05T16:55:07.054Z,1749142507.054 [DAT](INFO): DAT read: 16:55:05.9052 LVL= 32752, 32753, 25666, 32755, AGC= 55, IDX= 495, 0.13,-2.270, 2.511,-2.458,-2.500, PHS= 0.317,-1.225, 0.039, RAW= 140.3,  12.2, CAL= 143.4,   5.6, ROT=   6.6,  -5.6

2025-06-05T16:55:07.055Z,1749142507.055 [DAT](INFO): got valid direction response:
 16:55:05.9052 LVL= 32752, 32753, 25666, 32755, AGC= 55, IDX= 495, 0.13,-2.270, 2.511,-2.458,-2.500, PHS= 0.317,-1.225, 0.039, RAW= 140.3,  12.2, CAL= 143.4,   5.6, ROT=   6.6,  -5.6

2025-06-05T16:55:07.056Z,1749142507.056 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-05T16:55:07.057Z,1749142507.057 [DAT](INFO): direction in FSK: [0.988632,0.114389,0.097583]
2025-06-05T16:55:07.057Z,1749142507.057 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:07.073Z,1749142507.073 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=17.410595
2025-06-05T16:55:07.145Z,1749142507.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.500693 s,
      deltaX: -0.400000 m,
      approachRate: -0.798892 m/s,
      rangeRepo size: 4

2025-06-05T16:55:07.156Z,1749142507.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.017007 m,
      bearing: 315.739875 deg,
      lat: 36.906280 deg,
      lon: -122.115920 deg,
      deltaT: 0.500693 s,
      deltaX: -0.396730 m,
      approachRate: -0.792363 m/s,
      posRepo size: 4

2025-06-05T16:55:07.156Z,1749142507.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.02 m.
2025-06-05T16:55:07.165Z,1749142507.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 10.068456 m,
      bearing: 315.076477 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 297.522248 deg,
      new cmd heading: 296.385146 deg.

2025-06-05T16:55:07.170Z,1749142507.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.172897 target range: 10.017007 and range: 10.10 m.
2025-06-05T16:55:07.295Z,1749142507.295 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=17.632586
2025-06-05T16:55:07.550Z,1749142507.550 [DAT](INFO): DAT read: Rx Time:16:55:06.4050 

2025-06-05T16:55:07.551Z,1749142507.551 [DAT](INFO): Rx dataTimestamp_ set to:1749142507.550508
2025-06-05T16:55:07.553Z,1749142507.553 [DAT](INFO): DAT read: Bearing   6.3,  -6.5 (Local)

2025-06-05T16:55:07.553Z,1749142507.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3,  -6.5 (Local)

2025-06-05T16:55:07.556Z,1749142507.556 [DAT](INFO): DAT read: Range 10 to 50 :     9.8 m (trip time 6.5 ms) speed 0.5

2025-06-05T16:55:07.560Z,1749142507.560 [DAT](INFO): DAT read: 16:55:06.4050 LVL= 32752, 32753, 25874, 32755, AGC= 54, IDX= 509, 0.12,-2.113, 2.650,-2.292,-2.320, PHS= 0.295,-1.266, 0.025, RAW= 140.7,  13.0, CAL= 143.7,   6.5, ROT=   6.3,  -6.5

2025-06-05T16:55:07.561Z,1749142507.561 [DAT](INFO): got valid direction response:
 16:55:06.4050 LVL= 32752, 32753, 25874, 32755, AGC= 54, IDX= 509, 0.12,-2.113, 2.650,-2.292,-2.320, PHS= 0.295,-1.266, 0.025, RAW= 140.7,  13.0, CAL= 143.7,   6.5, ROT=   6.3,  -6.5

2025-06-05T16:55:07.562Z,1749142507.562 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-05T16:55:07.567Z,1749142507.567 [DAT](INFO): direction in FSK: [0.987572,0.109029,0.113203]
2025-06-05T16:55:07.567Z,1749142507.567 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:07.546Z,1749142507.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:07.573Z,1749142507.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.506478 s,
      deltaX: -0.300000 m,
      approachRate: -0.592326 m/s,
      rangeRepo size: 4

2025-06-05T16:55:07.573Z,1749142507.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.02 m.
2025-06-05T16:55:07.579Z,1749142507.579 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=17.916513
2025-06-05T16:55:07.574Z,1749142507.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.80 m.
2025-06-05T16:55:07.580Z,1749142507.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-05T16:55:07.588Z,1749142507.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 9.847224 m,
      bearing: 314.932533 deg,
      approach rate: -0.517545 m/s,
      LOS rate: -0.344306 deg/s,
      cmd heading: 296.385158 deg,
      new cmd heading: 295.943633 deg.

2025-06-05T16:55:07.589Z,1749142507.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.165191 target range: 10.017007 and range: 9.80 m.
2025-06-05T16:55:07.799Z,1749142507.799 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=18.136705
2025-06-05T16:55:08.040Z,1749142508.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.02 m. 10.02 m.
2025-06-05T16:55:08.049Z,1749142508.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 9.576363 m,
      bearing: 314.775475 deg,
      approach rate: -0.587804 m/s,
      LOS rate: -0.350475 deg/s,
      cmd heading: 295.943627 deg,
      new cmd heading: 295.459139 deg.

2025-06-05T16:55:08.052Z,1749142508.052 [DAT](INFO): DAT read: Rx Time:16:55:06.9047 

2025-06-05T16:55:08.052Z,1749142508.052 [DAT](INFO): Rx dataTimestamp_ set to:1749142508.051967
2025-06-05T16:55:08.054Z,1749142508.054 [DAT](INFO): DAT read: Bearing   6.5,  -2.6 (Local)

2025-06-05T16:55:08.054Z,1749142508.054 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.5,  -2.6 (Local)

2025-06-05T16:55:08.056Z,1749142508.056 [DAT](INFO): DAT read: Range 10 to 50 :     9.3 m me 6.2 ms) speed 0.4

2025-06-05T16:55:08.060Z,1749142508.060 [DAT](INFO): DAT read: 16:55:06.9047 LVL= 32752, 32753, 28018, 32755, AGC= 55, IDX= 506, 0.22, 1.480,-0.093, 1.277, 1.171, PHS= 0.397,-1.217, 0.104, RAW= 140.2,   9.7, CAL= 143.5,   2.6, ROT=   6.5,  -2.6

2025-06-05T16:55:08.061Z,1749142508.061 [DAT](INFO): got valid direction response:
 16:55:06.9047 LVL= 32752, 32753, 28018, 32755, AGC= 55, IDX= 506, 0.22, 1.480,-0.093, 1.277, 1.171, PHS= 0.397,-1.217, 0.104, RAW= 140.2,   9.7, CAL= 143.5,   2.6, ROT=   6.5,  -2.6

2025-06-05T16:55:08.062Z,1749142508.062 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-05T16:55:08.064Z,1749142508.064 [DAT](INFO): direction in FSK: [0.992549,0.113087,0.045363]
2025-06-05T16:55:08.065Z,1749142508.065 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:08.069Z,1749142508.069 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=18.405954
2025-06-05T16:55:08.071Z,1749142508.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.156735 target range: 10.017007 and range: 9.80 m.
2025-06-05T16:55:08.304Z,1749142508.304 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=18.640875
2025-06-05T16:55:08.405Z,1749142508.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.501459 s,
      deltaX: -0.500000 m,
      approachRate: -0.997091 m/s,
      rangeRepo size: 4

2025-06-05T16:55:08.412Z,1749142508.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.223539 m,
      bearing: 312.609497 deg,
      lat: 36.906279 deg,
      lon: -122.115920 deg,
      deltaT: 1.007937 s,
      deltaX: -0.793468 m,
      approachRate: -0.787219 m/s,
      posRepo size: 4

2025-06-05T16:55:08.413Z,1749142508.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 10.02 m.
2025-06-05T16:55:08.420Z,1749142508.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 9.335874 m,
      bearing: 314.648137 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 295.459148 deg,
      new cmd heading: 294.545524 deg.

2025-06-05T16:55:08.421Z,1749142508.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.140789 target range: 10.017007 and range: 9.30 m.
2025-06-05T16:55:08.560Z,1749142508.560 [DAT](INFO): DAT read: Rx Time:16:55:07.4050 

2025-06-05T16:55:08.561Z,1749142508.561 [DAT](INFO): Rx dataTimestamp_ set to:1749142508.560588
2025-06-05T16:55:08.564Z,1749142508.564 [DAT](INFO): DAT read: Bearing   5.5,  -2.6 (Local)

2025-06-05T16:55:08.565Z,1749142508.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.5,  -2.6 (Local)

2025-06-05T16:55:08.568Z,1749142508.568 [DAT](INFO): DAT read: Range 10 to 50 :     9.8 m (trip time 6.5 ms) speed 0.4

2025-06-05T16:55:08.596Z,1749142508.596 [DAT](INFO): DAT read: 16:55:07.4050 LVL= 32752, 32753, 27426, 32755, AGC= 54, IDX= 505, 0.32, 2.079, 0.499, 1.915, 1.788, PHS= 0.379,-1.242, 0.124, RAW= 141.6,   9.8, CAL= 144.5,   2.6, ROT=   5.5,  -2.6

2025-06-05T16:55:08.612Z,1749142508.612 [DAT](INFO): got valid direction response:
 16:55:07.4050 LVL= 32752, 32753, 27426, 32755, AGC= 54, IDX= 505, 0.32, 2.079, 0.499, 1.915, 1.788, PHS= 0.379,-1.242, 0.124, RAW= 141.6,   9.8, CAL= 144.5,   2.6, ROT=   5.5,  -2.6

2025-06-05T16:55:08.612Z,1749142508.612 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-06-05T16:55:08.613Z,1749142508.613 [DAT](INFO): direction in FSK: [0.994372,0.095747,0.045363]
2025-06-05T16:55:08.613Z,1749142508.613 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:08.623Z,1749142508.623 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=18.955315
2025-06-05T16:55:08.807Z,1749142508.807 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=19.144539
2025-06-05T16:55:08.937Z,1749142508.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.508621 s,
      deltaX: 0.500000 m,
      approachRate: 0.983050 m/s,
      rangeRepo size: 4

2025-06-05T16:55:08.943Z,1749142508.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.719408 m,
      bearing: 311.609104 deg,
      lat: 36.906280 deg,
      lon: -122.115922 deg,
      deltaT: 1.516558 s,
      deltaX: -0.297599 m,
      approachRate: -0.196233 m/s,
      posRepo size: 4

2025-06-05T16:55:08.944Z,1749142508.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.72 m. 10.02 m.
2025-06-05T16:55:08.959Z,1749142508.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 9.041369 m,
      bearing: 314.522653 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 294.545515 deg,
      new cmd heading: 293.239083 deg.

2025-06-05T16:55:08.959Z,1749142508.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.117988 target range: 10.017007 and range: 9.80 m.
2025-06-05T16:55:09.061Z,1749142509.061 [DAT](INFO): DAT read: Rx Time:16:55:07.9047 

2025-06-05T16:55:09.062Z,1749142509.062 [DAT](INFO): Rx dataTimestamp_ set to:1749142509.061377
2025-06-05T16:55:09.064Z,1749142509.064 [DAT](INFO): DAT read: Bearing   4.3,   0.1 (Local)

2025-06-05T16:55:09.065Z,1749142509.065 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.3,   0.1 (Local)

2025-06-05T16:55:09.069Z,1749142509.069 [DAT](INFO): DAT read: Range 10 to 50 :     9.3 m (trip time 6.2 ms) speed 0.4

2025-06-05T16:55:09.073Z,1749142509.073 [DAT](INFO): DAT read: 16:55:07.9047 LVL= 32752, 32753, 27634, 32755, AGC= 55, IDX= 503,-0.44,-0.254,-1.859,-0.376,-0.584, PHS= 0.419,-1.228, 0.205, RAW= 143.1,   7.8, CAL= 145.7,  -0.1, ROT=   4.3,   0.1

2025-06-05T16:55:09.083Z,1749142509.083 [DAT](INFO): got valid direction response:
 16:55:07.9047 LVL= 32752, 32753, 27634, 32755, AGC= 55, IDX= 503,-0.44,-0.254,-1.859,-0.376,-0.584, PHS= 0.419,-1.228, 0.205, RAW= 143.1,   7.8, CAL= 145.7,  -0.1, ROT=   4.3,   0.1

2025-06-05T16:55:09.083Z,1749142509.083 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-05T16:55:09.084Z,1749142509.084 [DAT](INFO): direction in FSK: [0.997184,0.074979,-0.001745]
2025-06-05T16:55:09.085Z,1749142509.085 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:09.093Z,1749142509.093 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=19.430141
2025-06-05T16:55:09.311Z,1749142509.311 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=19.648636
2025-06-05T16:55:09.325Z,1749142509.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.500789 s,
      deltaX: -0.500000 m,
      approachRate: -0.998424 m/s,
      rangeRepo size: 4

2025-06-05T16:55:09.332Z,1749142509.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.223519 m,
      bearing: 308.887811 deg,
      lat: 36.906279 deg,
      lon: -122.115923 deg,
      deltaT: 2.017347 s,
      deltaX: -0.793488 m,
      approachRate: -0.393332 m/s,
      posRepo size: 4

2025-06-05T16:55:09.333Z,1749142509.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.22 m. 10.02 m.
2025-06-05T16:55:09.340Z,1749142509.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 8.832305 m,
      bearing: 314.465937 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 293.239091 deg,
      new cmd heading: 292.285967 deg.

2025-06-05T16:55:09.341Z,1749142509.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101353 target range: 10.017007 and range: 9.30 m.
2025-06-05T16:55:09.565Z,1749142509.565 [DAT](INFO): DAT read: Rx Time:16:55:08.4046 

2025-06-05T16:55:09.565Z,1749142509.565 [DAT](INFO): Rx dataTimestamp_ set to:1749142509.564973
2025-06-05T16:55:09.567Z,1749142509.567 [DAT](INFO): DAT read: Bearing   2.2,   1.8 (Local)

2025-06-05T16:55:09.567Z,1749142509.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,   1.8 (Local)

2025-06-05T16:55:09.569Z,1749142509.569 [DAT](INFO): DAT read: Range 10 to 50 :     9.2 m (trip time 6.1 ms) speed 0.4

2025-06-05T16:55:09.574Z,1749142509.574 [DAT](INFO): DAT read: 16:55:08.4046 LVL= 32752, 32753, 28962, 32755, AGC= 56, IDX= 502,-0.23, 0.460,-1.166, 0.408, 0.119, PHS= 0.429,-1.238, 0.286, RAW= 145.6,   6.6, CAL= 147.8,  -1.8, ROT=   2.2,   1.8

2025-06-05T16:55:09.575Z,1749142509.575 [DAT](INFO): got valid direction response:
 16:55:08.4046 LVL= 32752, 32753, 28962, 32755, AGC= 56, IDX= 502,-0.23, 0.460,-1.166, 0.408, 0.119, PHS= 0.429,-1.238, 0.286, RAW= 145.6,   6.6, CAL= 147.8,  -1.8, ROT=   2.2,   1.8

2025-06-05T16:55:09.575Z,1749142509.575 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-06-05T16:55:09.576Z,1749142509.576 [DAT](INFO): direction in FSK: [0.998770,0.038369,-0.031411]
2025-06-05T16:55:09.577Z,1749142509.577 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:09.588Z,1749142509.588 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=19.925751
2025-06-05T16:55:09.781Z,1749142509.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.503596 s,
      deltaX: -0.100000 m,
      approachRate: -0.198573 m/s,
      rangeRepo size: 4

2025-06-05T16:55:09.791Z,1749142509.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.124342 m,
      bearing: 306.081256 deg,
      lat: 36.906277 deg,
      lon: -122.115930 deg,
      deltaT: 2.520943 s,
      deltaX: -0.892665 m,
      approachRate: -0.354100 m/s,
      posRepo size: 4

2025-06-05T16:55:09.792Z,1749142509.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.12 m. 10.02 m.
2025-06-05T16:55:09.796Z,1749142509.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 8.616745 m,
      bearing: 314.423345 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 292.285979 deg,
      new cmd heading: 291.214992 deg.

2025-06-05T16:55:09.797Z,1749142509.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.082661 target range: 10.017007 and range: 9.20 m.
2025-06-05T16:55:09.815Z,1749142509.815 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=20.152523
2025-06-05T16:55:10.068Z,1749142510.068 [DAT](INFO): DAT read: Rx Time:16:55:08.9043 

2025-06-05T16:55:10.068Z,1749142510.068 [DAT](INFO): Rx dataTimestamp_ set to:1749142510.067845
2025-06-05T16:55:10.069Z,1749142510.069 [DAT](INFO): DAT read: Bearing 358.5,   5.0 (Local)

2025-06-05T16:55:10.070Z,1749142510.070 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,   5.0 (Local)

2025-06-05T16:55:10.072Z,1749142510.072 [DAT](INFO): DAT read: Range 10 to 50 :     8.7 m (trip time 5.8 ms) speed 0.4

2025-06-05T16:55:10.076Z,1749142510.076 [DAT](INFO): DAT read: 16:55:08.9043 LVL= 32752, 32753, 24466, 32755, AGC= 56, IDX= 499,-0.04, 0.558,-1.079, 0.627, 0.187, PHS= 0.460,-1.219, 0.438, RAW= 149.3,   3.9, CAL= 151.5,  -5.0, ROT= 358.5,   5.0

2025-06-05T16:55:10.077Z,1749142510.077 [DAT](INFO): got valid direction response:
 16:55:08.9043 LVL= 32752, 32753, 24466, 32755, AGC= 56, IDX= 499,-0.04, 0.558,-1.079, 0.627, 0.187, PHS= 0.460,-1.219, 0.438, RAW= 149.3,   3.9, CAL= 151.5,  -5.0, ROT= 358.5,   5.0

2025-06-05T16:55:10.078Z,1749142510.078 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-06-05T16:55:10.079Z,1749142510.079 [DAT](INFO): direction in FSK: [0.995853,-0.026077,-0.087156]
2025-06-05T16:55:10.079Z,1749142510.079 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:10.084Z,1749142510.084 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=20.420864
2025-06-05T16:55:10.253Z,1749142510.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.502872 s,
      deltaX: -0.500000 m,
      approachRate: -0.994289 m/s,
      rangeRepo size: 4

2025-06-05T16:55:10.260Z,1749142510.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.628443 m,
      bearing: 302.468161 deg,
      lat: 36.906277 deg,
      lon: -122.115930 deg,
      deltaT: 3.023815 s,
      deltaX: -1.388564 m,
      approachRate: -0.459209 m/s,
      posRepo size: 4

2025-06-05T16:55:10.261Z,1749142510.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.63 m. 10.02 m.
2025-06-05T16:55:10.269Z,1749142510.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 8.332789 m,
      bearing: 314.397771 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 291.215005 deg,
      new cmd heading: 290.005041 deg.

2025-06-05T16:55:10.269Z,1749142510.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.061543 target range: 10.017007 and range: 8.70 m.
2025-06-05T16:55:10.321Z,1749142510.321 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=20.657789
2025-06-05T16:55:10.572Z,1749142510.572 [DAT](INFO): DAT read: Rx Time:16:55:09.4042 

2025-06-05T16:55:10.572Z,1749142510.572 [DAT](INFO): Rx dataTimestamp_ set to:1749142510.572044
2025-06-05T16:55:10.574Z,1749142510.574 [DAT](INFO): DAT read: Bearing 357.5,   6.9 (Local)

2025-06-05T16:55:10.574Z,1749142510.574 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,   6.9 (Local)

2025-06-05T16:55:10.576Z,1749142510.576 [DAT](INFO): DAT read: Range 10 to 50 :     8.6 m (trip time 5.7 ms) speed 0.4

2025-06-05T16:55:10.582Z,1749142510.582 [DAT](INFO): DAT read: 16:55:09.4042 LVL= 26000, 32753, 20674, 32755, AGC= 55, IDX= 498, 0.18,-1.857, 2.814,-1.770,-2.267, PHS= 0.498,-1.155, 0.494, RAW= 149.9,   2.0, CAL= 152.5,  -6.9, ROT= 357.5,   6.9

2025-06-05T16:55:10.583Z,1749142510.583 [DAT](INFO): got valid direction response:
 16:55:09.4042 LVL= 26000, 32753, 20674, 32755, AGC= 55, IDX= 498, 0.18,-1.857, 2.814,-1.770,-2.267, PHS= 0.498,-1.155, 0.494, RAW= 149.9,   2.0, CAL= 152.5,  -6.9, ROT= 357.5,   6.9

2025-06-05T16:55:10.583Z,1749142510.583 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-05T16:55:10.584Z,1749142510.584 [DAT](INFO): direction in FSK: [0.991812,-0.043304,-0.120137]
2025-06-05T16:55:10.585Z,1749142510.585 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:10.592Z,1749142510.592 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=20.929634
2025-06-05T16:55:10.649Z,1749142510.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.504199 s,
      deltaX: -0.099999 m,
      approachRate: -0.198333 m/s,
      rangeRepo size: 4

2025-06-05T16:55:10.656Z,1749142510.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.529266 m,
      bearing: 301.519786 deg,
      lat: 36.906274 deg,
      lon: -122.115934 deg,
      deltaT: 3.528014 s,
      deltaX: -1.487741 m,
      approachRate: -0.421693 m/s,
      posRepo size: 4

2025-06-05T16:55:10.657Z,1749142510.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.53 m. 10.02 m.
2025-06-05T16:55:10.699Z,1749142510.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 8.131079 m,
      bearing: 314.378519 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 290.005051 deg,
      new cmd heading: 289.036229 deg.

2025-06-05T16:55:10.700Z,1749142510.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.044634 target range: 10.017007 and range: 8.60 m.
2025-06-05T16:55:10.824Z,1749142510.824 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=21.161366
2025-06-05T16:55:11.076Z,1749142511.076 [DAT](INFO): DAT read: Rx Time:16:55:09.9040 

2025-06-05T16:55:11.076Z,1749142511.076 [DAT](INFO): Rx dataTimestamp_ set to:1749142511.075911
2025-06-05T16:55:11.077Z,1749142511.077 [DAT](INFO): DAT read: Bearing 355.9,   8.2 (Local)

2025-06-05T16:55:11.078Z,1749142511.078 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.9,   8.2 (Local)

2025-06-05T16:55:11.082Z,1749142511.082 [DAT](INFO): DAT read: Range 10 to 50 :     8.1 m (trip time 5.4 ms) speed 0.4

2025-06-05T16:55:11.087Z,1749142511.087 [DAT](INFO): DAT read: 16:55:09.9040 LVL= 22080, 25697, 18994, 32755, AGC= 54, IDX= 496,-0.36, 1.573, 0.012, 1.701, 1.156, PHS= 0.504,-1.097, 0.542, RAW= 151.2,   0.6, CAL= 154.1,  -8.2, ROT= 355.9,   8.2

2025-06-05T16:55:11.088Z,1749142511.088 [DAT](INFO): got valid direction response:
 16:55:09.9040 LVL= 22080, 25697, 18994, 32755, AGC= 54, IDX= 496,-0.36, 1.573, 0.012, 1.701, 1.156, PHS= 0.504,-1.097, 0.542, RAW= 151.2,   0.6, CAL= 154.1,  -8.2, ROT= 355.9,   8.2

2025-06-05T16:55:11.088Z,1749142511.088 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-05T16:55:11.089Z,1749142511.089 [DAT](INFO): direction in FSK: [0.987243,-0.070767,-0.142629]
2025-06-05T16:55:11.089Z,1749142511.089 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:11.093Z,1749142511.093 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=21.430132
2025-06-05T16:55:11.122Z,1749142511.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.503867 s,
      deltaX: -0.500000 m,
      approachRate: -0.992325 m/s,
      rangeRepo size: 4

2025-06-05T16:55:11.125Z,1749142511.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.033381 m,
      bearing: 296.933904 deg,
      lat: 36.906269 deg,
      lon: -122.115935 deg,
      deltaT: 4.031881 s,
      deltaX: -1.983626 m,
      approachRate: -0.491985 m/s,
      posRepo size: 4

2025-06-05T16:55:11.126Z,1749142511.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.03 m. 10.02 m.
2025-06-05T16:55:11.138Z,1749142511.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 7.894753 m,
      bearing: 314.531713 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 289.036230 deg,
      new cmd heading: 287.880324 deg.

2025-06-05T16:55:11.140Z,1749142511.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.024459 target range: 10.017007 and range: 8.10 m.
2025-06-05T16:55:11.327Z,1749142511.327 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=21.664608
2025-06-05T16:55:11.465Z,1749142511.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:11.472Z,1749142511.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.02 m. 10.02 m.
2025-06-05T16:55:11.490Z,1749142511.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 7.703368 m,
      bearing: 314.682658 deg,
      approach rate: -0.540143 m/s,
      LOS rate: 0.436593 deg/s,
      cmd heading: 287.880316 deg,
      new cmd heading: 288.344392 deg.

2025-06-05T16:55:11.505Z,1749142511.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.032559 target range: 10.017007 and range: 8.10 m.
2025-06-05T16:55:11.580Z,1749142511.580 [DAT](INFO): DAT read: Rx Time:16:55:10.4038 

2025-06-05T16:55:11.581Z,1749142511.581 [DAT](INFO): Rx dataTimestamp_ set to:1749142511.580217
2025-06-05T16:55:11.583Z,1749142511.583 [DAT](INFO): DAT read: Bearing   0.0,   8.1 (Local)

2025-06-05T16:55:11.583Z,1749142511.583 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.0,   8.1 (Local)

2025-06-05T16:55:11.585Z,1749142511.585 [DAT](INFO): DAT read: Range 10 to 50 :     7.8 m (trip time 5.2 ms) speed 0.4

2025-06-05T16:55:11.593Z,1749142511.593 [DAT](INFO): DAT read: 16:55:10.4038 LVL= 17456, 28401, 19650, 30563, AGC= 53, IDX= 510, 0.04,-2.896, 1.840,-2.912, 2.930, PHS= 0.545,-1.043, 0.438, RAW= 146.5,   0.8, CAL= 150.0,  -8.1, ROT=   0.0,   8.1

2025-06-05T16:55:11.601Z,1749142511.601 [DAT](INFO): got valid direction response:
 16:55:10.4038 LVL= 17456, 28401, 19650, 30563, AGC= 53, IDX= 510, 0.04,-2.896, 1.840,-2.912, 2.930, PHS= 0.545,-1.043, 0.438, RAW= 146.5,   0.8, CAL= 150.0,  -8.1, ROT=   0.0,   8.1

2025-06-05T16:55:11.601Z,1749142511.601 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-05T16:55:11.607Z,1749142511.607 [DAT](INFO): direction in FSK: [0.990024,0.000000,-0.140901]
2025-06-05T16:55:11.608Z,1749142511.608 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:11.624Z,1749142511.624 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=21.961664
2025-06-05T16:55:11.831Z,1749142511.831 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=22.168327
2025-06-05T16:55:11.996Z,1749142511.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.504306 s,
      deltaX: -0.300000 m,
      approachRate: -0.594877 m/s,
      rangeRepo size: 4

2025-06-05T16:55:12.011Z,1749142512.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.735839 m,
      bearing: 300.238898 deg,
      lat: 36.906269 deg,
      lon: -122.115935 deg,
      deltaT: 4.536187 s,
      deltaX: -2.281168 m,
      approachRate: -0.502882 m/s,
      posRepo size: 4

2025-06-05T16:55:12.019Z,1749142512.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.74 m. 10.02 m.
2025-06-05T16:55:12.034Z,1749142512.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 7.454033 m,
      bearing: 314.927692 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 288.344386 deg,
      new cmd heading: 287.075045 deg.

2025-06-05T16:55:12.035Z,1749142512.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.010405 target range: 10.017007 and range: 7.80 m.
2025-06-05T16:55:12.085Z,1749142512.085 [DAT](INFO): DAT read: Rx Time:16:55:10.9036 

2025-06-05T16:55:12.086Z,1749142512.086 [DAT](INFO): Rx dataTimestamp_ set to:1749142512.085335
2025-06-05T16:55:12.088Z,1749142512.088 [DAT](INFO): DAT read: Bearing   6.3,   7.8 (Local)

2025-06-05T16:55:12.088Z,1749142512.088 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3,   7.8 (Local)

2025-06-05T16:55:12.092Z,1749142512.092 [DAT](INFO): DAT read: Range 10 to 50 :     7.5 m (trip time 5.0 ms) speed 0.4

2025-06-05T16:55:12.104Z,1749142512.104 [DAT](INFO): DAT read: 16:55:10.9036 LVL= 15408, 32753, 19490, 30995, AGC= 52, IDX= 508,-0.31, 0.034,-1.429,-0.175,-0.458, PHS= 0.581,-0.924, 0.280, RAW= 139.1,   0.9, CAL= 143.7,  -7.8, ROT=   6.3,   7.8

2025-06-05T16:55:12.106Z,1749142512.106 [DAT](INFO): got valid direction response:
 16:55:10.9036 LVL= 15408, 32753, 19490, 30995, AGC= 52, IDX= 508,-0.31, 0.034,-1.429,-0.175,-0.458, PHS= 0.581,-0.924, 0.280, RAW= 139.1,   0.9, CAL= 143.7,  -7.8, ROT=   6.3,   7.8

2025-06-05T16:55:12.111Z,1749142512.111 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-05T16:55:12.113Z,1749142512.113 [DAT](INFO): direction in FSK: [0.984765,0.108719,-0.135716]
2025-06-05T16:55:12.114Z,1749142512.114 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:12.145Z,1749142512.145 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=22.482697
2025-06-05T16:55:12.336Z,1749142512.336 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=22.672838
2025-06-05T16:55:12.380Z,1749142512.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.505118 s,
      deltaX: -0.300000 m,
      approachRate: -0.593921 m/s,
      rangeRepo size: 4

2025-06-05T16:55:12.388Z,1749142512.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.438306 m,
      bearing: 304.936284 deg,
      lat: 36.906269 deg,
      lon: -122.115935 deg,
      deltaT: 5.041305 s,
      deltaX: -2.578701 m,
      approachRate: -0.511514 m/s,
      posRepo size: 4

2025-06-05T16:55:12.389Z,1749142512.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.44 m. 10.02 m.
2025-06-05T16:55:12.396Z,1749142512.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 7.255349 m,
      bearing: 315.180290 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 287.075036 deg,
      new cmd heading: 286.114717 deg.

2025-06-05T16:55:12.397Z,1749142512.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993644 target range: 10.017007 and range: 7.50 m.
2025-06-05T16:55:12.588Z,1749142512.588 [DAT](INFO): DAT read: Rx Time:16:55:11.4035 

2025-06-05T16:55:12.588Z,1749142512.588 [DAT](INFO): Rx dataTimestamp_ set to:1749142512.588123
2025-06-05T16:55:12.590Z,1749142512.590 [DAT](INFO): DAT read: Bearing  14.3,   4.0 (Local)

2025-06-05T16:55:12.590Z,1749142512.590 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.3,   4.0 (Local)

2025-06-05T16:55:12.592Z,1749142512.592 [DAT](INFO): DAT read: Range 10 to 50 :     7.4 m (trip time 4.9 ms) speed 0.4

2025-06-05T16:55:12.597Z,1749142512.597 [DAT](INFO): DAT read: 16:55:11.4035 LVL= 11168, 26257, 16434, 24355, AGC= 51, IDX= 507, 0.19, 1.604, 0.071, 1.129, 1.048, PHS= 0.644,-0.930, 0.078, RAW= 129.2,   3.0, CAL= 135.7,  -4.0, ROT=  14.3,   4.0

2025-06-05T16:55:12.599Z,1749142512.599 [DAT](INFO): got valid direction response:
 16:55:11.4035 LVL= 11168, 26257, 16434, 24355, AGC= 51, IDX= 507, 0.19, 1.604, 0.071, 1.129, 1.048, PHS= 0.644,-0.930, 0.078, RAW= 129.2,   3.0, CAL= 135.7,  -4.0, ROT=  14.3,   4.0

2025-06-05T16:55:12.600Z,1749142512.600 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-06-05T16:55:12.601Z,1749142512.601 [DAT](INFO): direction in FSK: [0.966655,0.246397,-0.069756]
2025-06-05T16:55:12.601Z,1749142512.601 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:12.604Z,1749142512.604 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=22.941671
2025-06-05T16:55:12.843Z,1749142512.843 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=23.180092
2025-06-05T16:55:13.092Z,1749142513.092 [DAT](INFO): DAT read: Rx Time:16:55:11.9032 

2025-06-05T16:55:13.092Z,1749142513.092 [DAT](INFO): Rx dataTimestamp_ set to:1749142513.092002
2025-06-05T16:55:13.093Z,1749142513.093 [DAT](INFO): DAT read: Bearing  23.8,  -1.3 (Local)

2025-06-05T16:55:13.094Z,1749142513.094 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.8,  -1.3 (Local)

2025-06-05T16:55:13.096Z,1749142513.096 [DAT](INFO): DAT read: Range 10 to 50 :     6.9 m (trip time 4.6 ms) speed 0.4

2025-06-05T16:55:13.101Z,1749142513.101 [DAT](INFO): DAT read: 16:55:11.9032 LVL= 12624, 30833, 20466, 27059, AGC= 52, IDX= 505,-0.09,-1.875, 2.85,PHS= 0.713,-0.881,-0.177, RAW= 116.2,   5.0, CAL= 126.2,   1.3, ROT=  23.8,  -1.3

2025-06-05T16:55:13.102Z,1749142513.102 [DAT](INFO): unknown deviceResponse_: 16:55:11.9032 LVL= 12624, 30833, 20466, 27059, AGC= 52, IDX= 505,-0.09,-1.875, 2.85,PHS= 0.713,-0.881,-0.177, RAW= 116.2,   5.0, CAL= 126.2,   1.3, ROT=  23.8,  -1.3

2025-06-05T16:55:13.102Z,1749142513.102 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-06-05T16:55:13.103Z,1749142513.103 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=23.440584
2025-06-05T16:55:13.116Z,1749142513.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 1.006667 s,
      deltaX: -0.600000 m,
      approachRate: -0.596026 m/s,
      rangeRepo size: 4

2025-06-05T16:55:13.118Z,1749142513.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.339134 m,
      bearing: 312.794814 deg,
      lat: 36.906269 deg,
      lon: -122.115935 deg,
      deltaT: 5.544093 s,
      deltaX: -2.677873 m,
      approachRate: -0.483014 m/s,
      posRepo size: 4

2025-06-05T16:55:13.123Z,1749142513.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.34 m. 10.02 m.
2025-06-05T16:55:13.126Z,1749142513.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 6.904396 m,
      bearing: 315.756630 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 286.114712 deg,
      new cmd heading: 284.318935 deg.

2025-06-05T16:55:13.129Z,1749142513.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.962302 target range: 10.017007 and range: 6.90 m.
2025-06-05T16:55:13.344Z,1749142513.344 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=23.681770
2025-06-05T16:55:13.512Z,1749142513.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:13.535Z,1749142513.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.02 m. 10.02 m.
2025-06-05T16:55:13.544Z,1749142513.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 6.718148 m,
      bearing: 316.158128 deg,
      approach rate: -0.445935 m/s,
      LOS rate: 0.987951 deg/s,
      cmd heading: 284.318946 deg,
      new cmd heading: 285.556627 deg.

2025-06-05T16:55:13.549Z,1749142513.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.983903 target range: 10.017007 and range: 6.90 m.
2025-06-05T16:55:13.597Z,1749142513.597 [DAT](INFO): DAT read: Rx Time:16:55:12.4032 

2025-06-05T16:55:13.598Z,1749142513.598 [DAT](INFO): Rx dataTimestamp_ set to:1749142513.597667
2025-06-05T16:55:13.600Z,1749142513.600 [DAT](INFO): DAT read: Bearing  26.6,  -4.1 (Local)

2025-06-05T16:55:13.601Z,1749142513.601 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.6,  -4.1 (Local)

2025-06-05T16:55:13.605Z,1749142513.605 [DAT](INFO): DAT read: Range 10 to 50 :     6.9 m (trip time 4.6 ms) speed 0.4

2025-06-05T16:55:13.612Z,1749142513.612 [DAT](INFO): DAT read: 16:55:12.4032 LVL= 10976, 32753, 21858, 31427, AGC= 50, IDX= 504, 0.37, 1.178,-0.493, 0.246, 0.535, PHS= 0.732,-0.981,-0.292, RAW= 113.6,   7.3, CAL= 123.4,   4.1, ROT=  26.6,  -4.1

2025-06-05T16:55:13.613Z,1749142513.613 [DAT](INFO): got valid direction response:
 16:55:12.4032 LVL= 10976, 32753, 21858, 31427, AGC= 50, IDX= 504, 0.37, 1.178,-0.493, 0.246, 0.535, PHS= 0.732,-0.981,-0.292, RAW= 113.6,   7.3, CAL= 123.4,   4.1, ROT=  26.6,  -4.1

2025-06-05T16:55:13.614Z,1749142513.614 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-06-05T16:55:13.616Z,1749142513.616 [DAT](INFO): direction in FSK: [0.891866,0.446613,0.071497]
2025-06-05T16:55:13.616Z,1749142513.616 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:13.625Z,1749142513.625 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=23.962259
2025-06-05T16:55:13.849Z,1749142513.849 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=24.185596
2025-06-05T16:55:14.035Z,1749142514.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.505665 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:14.037Z,1749142514.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.843225 m,
      bearing: 321.492530 deg,
      lat: 36.906272 deg,
      lon: -122.115931 deg,
      deltaT: 6.553637 s,
      deltaX: -3.173782 m,
      approachRate: -0.484278 m/s,
      posRepo size: 4

2025-06-05T16:55:14.038Z,1749142514.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.84 m. 10.02 m.
2025-06-05T16:55:14.044Z,1749142514.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 6.488124 m,
      bearing: 316.743165 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 285.556631 deg,
      new cmd heading: 284.328642 deg.

2025-06-05T16:55:14.045Z,1749142514.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.962471 target range: 10.017007 and range: 6.90 m.
2025-06-05T16:55:14.100Z,1749142514.100 [DAT](INFO): DAT read: Rx Time:16:55:12.9029 

2025-06-05T16:55:14.101Z,1749142514.101 [DAT](INFO): Rx dataTimestamp_ set to:1749142514.100504
2025-06-05T16:55:14.102Z,1749142514.102 [DAT](INFO): DAT read: Bearing  29.3,  -8.0 (Local)

2025-06-05T16:55:14.103Z,1749142514.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.3,  -8.0 (Local)

2025-06-05T16:55:14.105Z,1749142514.105 [DAT](INFO): DAT read: Range 10 to 50 :     6.5 m (trip time 4.3 ms) speed 0.4

2025-06-05T16:55:14.110Z,1749142514.110 [DAT](INFO): DAT read: 16:55:12.9029 LVL= 12384, 31521, 18834, 30195, AGC= 52, IDX= 502,-0.09,-1.300,-2.890,-2.234,-1.843, PHS= 0.631,-1.000,-0.394, RAW= 111.6,  10.7, CAL= 120.7,   8.0, ROT=  29.3,  -8.0

2025-06-05T16:55:14.111Z,1749142514.111 [DAT](INFO): got valid direction response:
 16:55:12.9029 LVL= 12384, 31521, 18834, 30195, AGC= 52, IDX= 502,-0.09,-1.300,-2.890,-2.234,-1.843, PHS= 0.631,-1.000,-0.394, RAW= 111.6,  10.7, CAL= 120.7,   8.0, ROT=  29.3,  -8.0

2025-06-05T16:55:14.111Z,1749142514.111 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-06-05T16:55:14.112Z,1749142514.112 [DAT](INFO): direction in FSK: [0.863582,0.484620,0.139173]
2025-06-05T16:55:14.112Z,1749142514.112 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:14.133Z,1749142514.133 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=24.470261
2025-06-05T16:55:14.351Z,1749142514.351 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=24.688560
2025-06-05T16:55:14.604Z,1749142514.604 [DAT](INFO): DAT read: Rx Time:16:55:13.4029 

2025-06-05T16:55:14.604Z,1749142514.604 [DAT](INFO): Rx dataTimestamp_ set to:1749142514.603964
2025-06-05T16:55:14.605Z,1749142514.605 [DAT](INFO): DAT read: Bearing  23.8, -10.2 (Local)

2025-06-05T16:55:14.606Z,1749142514.606 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.8, -10.2 (Local)

2025-06-05T16:55:14.608Z,1749142514.608 [DAT](INFO): DAT read: Range 10 to 50 :     6.5 m (trip time 4.3 ms) speed 0.4

2025-06-05T16:55:14.612Z,1749142514.612 [DAT](INFO): DAT read: 16:55:13.4029 LVL= 10224, 28561, 17010, 30579, AGC= 49, IDX= 501, 0.31, 1.925, 0.356, 1.182, 1.519, PHS= 0.494,-1.116,-0.340, RAW= 118.8,  13.7, CAL= 126.2,  10.2, ROT=  23.8, -10.2

2025-06-05T16:55:14.615Z,1749142514.615 [DAT](INFO): got valid direction response:
 16:55:13.4029 LVL= 10224, 28561, 17010, 30579, AGC= 49, IDX= 501, 0.31, 1.925, 0.356, 1.182, 1.519, PHS= 0.494,-1.116,-0.340, RAW= 118.8,  13.7, CAL= 126.2,  10.2, ROT=  23.8, -10.2

2025-06-05T16:55:14.616Z,1749142514.616 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-06-05T16:55:14.617Z,1749142514.617 [DAT](INFO): direction in FSK: [0.900499,0.397167,0.177085]
2025-06-05T16:55:14.617Z,1749142514.617 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:14.637Z,1749142514.637 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=24.974287
2025-06-05T16:55:14.724Z,1749142514.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 1.006297 s,
      deltaX: -0.400000 m,
      approachRate: -0.397497 m/s,
      rangeRepo size: 4

2025-06-05T16:55:14.732Z,1749142514.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.446516 m,
      bearing: 317.483681 deg,
      lat: 36.906281 deg,
      lon: -122.115927 deg,
      deltaT: 7.559934 s,
      deltaX: -3.570491 m,
      approachRate: -0.472291 m/s,
      posRepo size: 4

2025-06-05T16:55:14.733Z,1749142514.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.45 m. 10.02 m.
2025-06-05T16:55:14.745Z,1749142514.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 6.152749 m,
      bearing: 317.728012 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 284.328645 deg,
      new cmd heading: 282.619274 deg.

2025-06-05T16:55:14.746Z,1749142514.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932637 target range: 10.017007 and range: 6.50 m.
2025-06-05T16:55:14.864Z,1749142514.864 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=25.200340
2025-06-05T16:55:15.112Z,1749142515.112 [DAT](INFO): DAT read: Rx Time:16:55:13.9027 

2025-06-05T16:55:15.112Z,1749142515.112 [DAT](INFO): Rx dataTimestamp_ set to:1749142515.111912
2025-06-05T16:55:15.114Z,1749142515.114 [DAT](INFO): DAT read: Bearing  18.0, -12.0 (Local)

2025-06-05T16:55:15.115Z,1749142515.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.0, -12.0 (Local)

2025-06-05T16:55:15.117Z,1749142515.117 [DAT](INFO): DAT read: Range 10 to 50 :     6.2 m (trip time 4.1 ms) speed 0.4

2025-06-05T16:55:15.122Z,1749142515.122 [DAT](INFO): DAT read: 16:55:13.9027 LVL= 12848, 32241, 19186, 32755, AGC= 48, IDX= 499,-0.11,-1.179,-2.625,-1.685,-1.427, PHS= 0.336,-1.151,-0.261, RAW= 126.5,  16.4, CAL= 132.0,  12.0, ROT=  18.0, -12.0

2025-06-05T16:55:15.123Z,1749142515.123 [DAT](INFO): got valid direction response:
 16:55:13.9027 LVL= 12848, 32241, 19186, 32755, AGC= 48, IDX= 499,-0.11,-1.179,-2.625,-1.685,-1.427, PHS= 0.336,-1.151,-0.261, RAW= 126.5,  16.4, CAL= 132.0,  12.0, ROT=  18.0, -12.0

2025-06-05T16:55:15.123Z,1749142515.124 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-06-05T16:55:15.124Z,1749142515.124 [DAT](INFO): direction in FSK: [0.930274,0.302264,0.207912]
2025-06-05T16:55:15.125Z,1749142515.125 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:15.134Z,1749142515.134 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=25.470896
2025-06-05T16:55:15.243Z,1749142515.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.507948 s,
      deltaX: -0.300000 m,
      approachRate: -0.590612 m/s,
      rangeRepo size: 4

2025-06-05T16:55:15.245Z,1749142515.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.148979 m,
      bearing: 309.842921 deg,
      lat: 36.906281 deg,
      lon: -122.115927 deg,
      deltaT: 8.067882 s,
      deltaX: -3.868028 m,
      approachRate: -0.479435 m/s,
      posRepo size: 4

2025-06-05T16:55:15.249Z,1749142515.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.15 m. 10.02 m.
2025-06-05T16:55:15.253Z,1749142515.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 5.916425 m,
      bearing: 318.498243 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 282.619267 deg,
      new cmd heading: 281.356424 deg.

2025-06-05T16:55:15.254Z,1749142515.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.910596 target range: 10.017007 and range: 6.20 m.
2025-06-05T16:55:15.364Z,1749142515.364 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=25.700584
2025-06-05T16:55:15.616Z,1749142515.616 [DAT](INFO): DAT read: Rx Time:16:55:14.4025 

2025-06-05T16:55:15.617Z,1749142515.617 [DAT](INFO): Rx dataTimestamp_ set to:1749142515.616425
2025-06-05T16:55:15.618Z,1749142515.618 [DAT](INFO): DAT read: Bearing  13.5, -10.8 (Local)

2025-06-05T16:55:15.618Z,1749142515.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.5, -10.8 (Local)

2025-06-05T16:55:15.620Z,1749142515.620 [DAT](INFO): DAT read: Range 10 to 50 :     6.0 m (trip time 4.0 ms) speed 0.4

2025-06-05T16:55:15.625Z,1749142515.625 [DAT](INFO): DAT read: 16:55:14.4025 LVL= 15904, 32753, 18722, 32755, AGC= 48, IDX= 497, 0.30, 1.543,-0.016, 1.126, 1.306, PHS= 0.326,-1.275,-0.182, RAW= 131.9,  15.8, CAL= 136.5,  10.8, ROT=  13.5, -10.8

2025-06-05T16:55:15.626Z,1749142515.626 [DAT](INFO): got valid direction response:
 16:55:14.4025 LVL= 15904, 32753, 18722, 32755, AGC= 48, IDX= 497, 0.30, 1.543,-0.016, 1.126, 1.306, PHS= 0.326,-1.275,-0.182, RAW= 131.9,  15.8, CAL= 136.5,  10.8, ROT=  13.5, -10.8

2025-06-05T16:55:15.626Z,1749142515.626 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-06-05T16:55:15.627Z,1749142515.627 [DAT](INFO): direction in FSK: [0.955147,0.229310,0.187381]
2025-06-05T16:55:15.627Z,1749142515.627 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:15.632Z,1749142515.632 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=25.969688
2025-06-05T16:55:15.874Z,1749142515.874 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=26.210854
2025-06-05T16:55:15.902Z,1749142515.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.504513 s,
      deltaX: -0.200000 m,
      approachRate: -0.396422 m/s,
      rangeRepo size: 4

2025-06-05T16:55:15.904Z,1749142515.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.950621 m,
      bearing: 303.822590 deg,
      lat: 36.906281 deg,
      lon: -122.115927 deg,
      deltaT: 8.572395 s,
      deltaX: -4.066386 m,
      approachRate: -0.474358 m/s,
      posRepo size: 4

2025-06-05T16:55:15.905Z,1749142515.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.95 m. 10.02 m.
2025-06-05T16:55:15.912Z,1749142515.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 5.639120 m,
      bearing: 319.583495 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 281.356420 deg,
      new cmd heading: 279.735417 deg.

2025-06-05T16:55:15.913Z,1749142515.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.882304 target range: 10.017007 and range: 6.00 m.
2025-06-05T16:55:16.120Z,1749142516.120 [DAT](INFO): DAT read: Rx Time:16:55:14.9022 

2025-06-05T16:55:16.120Z,1749142516.120 [DAT](INFO): Rx dataTimestamp_ set to:1749142516.119980
2025-06-05T16:55:16.122Z,1749142516.122 [DAT](INFO): DAT read: Bearing  12.4,  -9.2 (Local)

2025-06-05T16:55:16.122Z,1749142516.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.4,  -9.2 (Local)

2025-06-05T16:55:16.124Z,1749142516.124 [DAT](INFO): DAT read: Range 10 to 50 :     5.6 m (trip time 3.7 ms) speed 0.4

2025-06-05T16:55:16.128Z,1749142516.128 [DAT](INFO): DAT read: 16:55:14.9022 LVL= 19216, 29521, 20546, 32755, AGC= 50, IDX= 511,-0.16,-0.269,-1.926,-0.687,-0.548, PHS= 0.367,-1.330,-0.141, RAW= 133.0,  14.5, CAL= 137.6,   9.2, ROT=  12.4,  -9.2

2025-06-05T16:55:16.129Z,1749142516.129 [DAT](INFO): got valid direction response:
 16:55:14.9022 LVL= 19216, 29521, 20546, 32755, AGC= 50, IDX= 511,-0.16,-0.269,-1.926,-0.687,-0.548, PHS= 0.367,-1.330,-0.141, RAW= 133.0,  14.5, CAL= 137.6,   9.2, ROT=  12.4,  -9.2

2025-06-05T16:55:16.130Z,1749142516.130 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-06-05T16:55:16.133Z,1749142516.133 [DAT](INFO): direction in FSK: [0.964109,0.211973,0.159881]
2025-06-05T16:55:16.133Z,1749142516.133 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:16.180Z,1749142516.180 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=26.517214
2025-06-05T16:55:16.333Z,1749142516.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.503555 s,
      deltaX: -0.400000 m,
      approachRate: -0.794352 m/s,
      rangeRepo size: 4

2025-06-05T16:55:16.340Z,1749142516.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.553913 m,
      bearing: 301.994126 deg,
      lat: 36.906275 deg,
      lon: -122.115929 deg,
      deltaT: 9.075950 s,
      deltaX: -4.463094 m,
      approachRate: -0.491749 m/s,
      posRepo size: 4

2025-06-05T16:55:16.341Z,1749142516.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.55 m. 10.02 m.
2025-06-05T16:55:16.349Z,1749142516.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 5.416115 m,
      bearing: 320.522513 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 279.735424 deg,
      new cmd heading: 278.665686 deg.

2025-06-05T16:55:16.355Z,1749142516.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.863634 target range: 10.017007 and range: 5.60 m.
2025-06-05T16:55:16.371Z,1749142516.371 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=26.708467
2025-06-05T16:55:16.624Z,1749142516.624 [DAT](INFO): DAT read: Rx Time:16:55:15.4022 

2025-06-05T16:55:16.625Z,1749142516.625 [DAT](INFO): Rx dataTimestamp_ set to:1749142516.624297
2025-06-05T16:55:16.626Z,1749142516.626 [DAT](INFO): DAT read: Bearing  17.9, -11.0 (Local)

2025-06-05T16:55:16.626Z,1749142516.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.9, -11.0 (Local)

2025-06-05T16:55:16.628Z,1749142516.628 [DAT](INFO): DAT read: Range 10 to 50 :     5.6 m (trip time 3.7 ms) speed 0.4

2025-06-05T16:55:16.639Z,1749142516.639 [DAT](INFO): DAT read: 16:55:15.4022 LVL= 17216, 29105, 27234, 29987, AGC= 51, IDX= 510, 0.17,-1.515, 2.956,-2.171,-1.873, PHS= 0.447,-1.407,-0.300, RAW= 126.4,  15.4, CAL= 132.1,  11.0, ROT=  17.9, -11.0

2025-06-05T16:55:16.640Z,1749142516.640 [DAT](INFO): got valid direction response:
 16:55:15.4022 LVL= 17216, 29105, 27234, 29987, AGC= 51, IDX= 510, 0.17,-1.515, 2.956,-2.171,-1.873, PHS= 0.447,-1.407,-0.300, RAW= 126.4,  15.4, CAL= 132.1,  11.0, ROT=  17.9, -11.0

2025-06-05T16:55:16.640Z,1749142516.640 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-06-05T16:55:16.641Z,1749142516.641 [DAT](INFO): direction in FSK: [0.934111,0.301710,0.190809]
2025-06-05T16:55:16.641Z,1749142516.641 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:16.645Z,1749142516.645 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=26.982542
2025-06-05T16:55:16.879Z,1749142516.879 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=27.214794
2025-06-05T16:55:16.923Z,1749142516.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.504317 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:16.925Z,1749142516.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.553914 m,
      bearing: 306.519505 deg,
      lat: 36.906273 deg,
      lon: -122.115934 deg,
      deltaT: 9.580267 s,
      deltaX: -4.463093 m,
      approachRate: -0.465863 m/s,
      posRepo size: 4

2025-06-05T16:55:16.939Z,1749142516.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.55 m. 10.02 m.
2025-06-05T16:55:16.942Z,1749142516.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 5.181402 m,
      bearing: 321.650318 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 278.665680 deg,
      new cmd heading: 277.227703 deg.

2025-06-05T16:55:16.947Z,1749142516.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838536 target range: 10.017007 and range: 5.60 m.
2025-06-05T16:55:17.128Z,1749142517.128 [DAT](INFO): DAT read: Rx Time:16:55:15.9021 

2025-06-05T16:55:17.128Z,1749142517.128 [DAT](INFO): Rx dataTimestamp_ set to:1749142517.127928
2025-06-05T16:55:17.129Z,1749142517.129 [DAT](INFO): DAT read: Bearing  24.3, -11.9 (Local)

2025-06-05T16:55:17.130Z,1749142517.130 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.3, -11.9 (Local)

2025-06-05T16:55:17.133Z,1749142517.133 [DAT](INFO): DAT read: Range 10 to 50 :     5.4 m (trip time 3.6 ms) speed 0.4

2025-06-05T16:55:17.137Z,1749142517.137 [DAT](INFO): DAT read: 16:55:15.9021 LVL= 17104, 22225, 24338, 24243, AGC= 49, IDX= 508,-0.11, 1.262,-0.718, 0.305, 0.778, PHS= 0.573,-1.449,-0.476, RAW= 118.8,  15.3, CAL= 125.7,  11.9, ROT=  24.3, -11.9

2025-06-05T16:55:17.139Z,1749142517.139 [DAT](INFO): got valid direction response:
 16:55:15.9021 LVL= 17104, 22225, 24338, 24243, AGC= 49, IDX= 508,-0.11, 1.262,-0.718, 0.305, 0.778, PHS= 0.573,-1.449,-0.476, RAW= 118.8,  15.3, CAL= 125.7,  11.9, ROT=  24.3, -11.9

2025-06-05T16:55:17.139Z,1749142517.139 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-06-05T16:55:17.140Z,1749142517.140 [DAT](INFO): direction in FSK: [0.891816,0.402670,0.206204]
2025-06-05T16:55:17.140Z,1749142517.140 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:17.160Z,1749142517.160 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=27.497190
2025-06-05T16:55:17.379Z,1749142517.379 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=27.716536
2025-06-05T16:55:17.403Z,1749142517.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.503631 s,
      deltaX: -0.200000 m,
      approachRate: -0.397116 m/s,
      rangeRepo size: 4

2025-06-05T16:55:17.405Z,1749142517.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.355560 m,
      bearing: 311.150387 deg,
      lat: 36.906273 deg,
      lon: -122.115934 deg,
      deltaT: 10.083898 s,
      deltaX: -4.661447 m,
      approachRate: -0.462266 m/s,
      posRepo size: 4

2025-06-05T16:55:17.411Z,1749142517.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.36 m. 10.02 m.
2025-06-05T16:55:17.413Z,1749142517.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 4.946505 m,
      bearing: 322.896106 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 277.227707 deg,
      new cmd heading: 276.057650 deg.

2025-06-05T16:55:17.419Z,1749142517.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818115 target range: 10.017007 and range: 5.40 m.
2025-06-05T16:55:17.635Z,1749142517.635 [DAT](INFO): DAT read: Rx Time:16:55:16.4020 

2025-06-05T16:55:17.637Z,1749142517.637 [DAT](INFO): Rx dataTimestamp_ set to:1749142517.635800
2025-06-05T16:55:17.639Z,1749142517.639 [DAT](INFO): DAT read: Bearing  34.0, -15.2 (Local)

2025-06-05T16:55:17.640Z,1749142517.640 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.0, -15.2 (Local)

2025-06-05T16:55:17.642Z,1749142517.642 [DAT](INFO): DAT read: Range 10 to 50 :     5.3 m (trip time 3.5 ms) speed 0.4

2025-06-05T16:55:17.658Z,1749142517.658 [DAT](INFO): DAT read: 16:55:16.4020 LVL= 17600, 25457, 29874, 32691, AGC= 47, IDX= 508,-0.41, 1.546,-0.504, 0.213, 0.980, PHS= 0.654,-1.436,-0.770, RAW= 108.2,  16.5, CAL= 116.0,  15.2, ROT=  34.0, -15.2

2025-06-05T16:55:17.660Z,1749142517.660 [DAT](INFO): got valid direction response:
 16:55:16.4020 LVL= 17600, 25457, 29874, 32691, AGC= 47, IDX= 508,-0.41, 1.546,-0.504, 0.213, 0.980, PHS= 0.654,-1.436,-0.770, RAW= 108.2,  16.5, CAL= 116.0,  15.2, ROT=  34.0, -15.2

2025-06-05T16:55:17.660Z,1749142517.660 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-06-05T16:55:17.661Z,1749142517.661 [DAT](INFO): direction in FSK: [0.800035,0.539630,0.262189]
2025-06-05T16:55:17.661Z,1749142517.661 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:17.682Z,1749142517.682 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=28.003187
2025-06-05T16:55:17.756Z,1749142517.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.300000 m,
      deltaT: 0.507872 s,
      deltaX: -0.100000 m,
      approachRate: -0.196900 m/s,
      rangeRepo size: 4

2025-06-05T16:55:17.758Z,1749142517.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.256383 m,
      bearing: 319.704409 deg,
      lat: 36.906273 deg,
      lon: -122.115934 deg,
      deltaT: 10.591770 s,
      deltaX: -4.760624 m,
      approachRate: -0.449464 m/s,
      posRepo size: 4

2025-06-05T16:55:17.767Z,1749142517.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.26 m. 10.02 m.
2025-06-05T16:55:17.770Z,1749142517.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 4.796009 m,
      bearing: 323.799263 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 276.057641 deg,
      new cmd heading: 275.171586 deg.

2025-06-05T16:55:17.775Z,1749142517.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802650 target range: 10.017007 and range: 5.30 m.
2025-06-05T16:55:17.887Z,1749142517.887 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=28.223930
2025-06-05T16:55:18.136Z,1749142518.136 [DAT](INFO): DAT read: Rx Time:16:55:16.9018 

2025-06-05T16:55:18.137Z,1749142518.137 [DAT](INFO): Rx dataTimestamp_ set to:1749142518.136166
2025-06-05T16:55:18.139Z,1749142518.139 [DAT](INFO): DAT read: Bearing  39.3, -17.8 (Local)

2025-06-05T16:55:18.139Z,1749142518.139 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.3, -17.8 (Local)

2025-06-05T16:55:18.142Z,1749142518.142 [DAT](INFO): DAT read: Range 10 to 50 :     5.0 m (trip time 3.3 ms) speed 0.4

2025-06-05T16:55:18.147Z,1749142518.147 [DAT](INFO): DAT read: 16:55:16.9018 LVL= 17440, 27569, 31250, 32755, AGC= 46, IDX= 505, 0.23, 1.074,-0.955,-0.432, 0.499, PHS= 0.663,-1.407,-0.934, RAW= 102.6,  17.5, CAL= 110.7,  17.8, ROT -17.8

2025-06-05T16:55:18.149Z,1749142518.149 [DAT](INFO): unknown deviceResponse_: 16:55:16.9018 LVL= 17440, 27569, 31250, 32755, AGC= 46, IDX= 505, 0.23, 1.074,-0.955,-0.432, 0.499, PHS= 0.663,-1.407,-0.934, RAW= 102.6,  17.5, CAL= 110.7,  17.8, ROT -17.8

2025-06-05T16:55:18.149Z,1749142518.149 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-06-05T16:55:18.155Z,1749142518.155 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=28.491104
2025-06-05T16:55:18.295Z,1749142518.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:18.304Z,1749142518.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.500366 s,
      deltaX: -0.300000 m,
      approachRate: -0.599562 m/s,
      rangeRepo size: 4

2025-06-05T16:55:18.305Z,1749142518.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.02 m. 10.02 m.
2025-06-05T16:55:18.312Z,1749142518.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 4.552382 m,
      bearing: 325.274245 deg,
      approach rate: -0.443998 m/s,
      LOS rate: 2.831623 deg/s,
      cmd heading: 275.171574 deg,
      new cmd heading: 279.822569 deg.

2025-06-05T16:55:18.313Z,1749142518.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.883825 target range: 10.017007 and range: 5.00 m.
2025-06-05T16:55:18.389Z,1749142518.389 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=28.725569
2025-06-05T16:55:18.640Z,1749142518.640 [DAT](INFO): DAT read: Rx Time:16:55:17.4017 

2025-06-05T16:55:18.640Z,1749142518.640 [DAT](INFO): Rx dataTimestamp_ set to:1749142518.639823
2025-06-05T16:55:18.641Z,1749142518.641 [DAT](INFO): DAT read: Bearing  42.9, -25.7 (Local)

2025-06-05T16:55:18.642Z,1749142518.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing  42.9, -25.7 (Local)

2025-06-05T16:55:18.644Z,1749142518.644 [DAT](INFO): DAT read: Range 10 to 50 :     4.8 m (trip time 3.2 ms) speed 0.4

2025-06-05T16:55:18.651Z,1749142518.651 [DAT](INFO): DAT read: 16:55:17.4017 LVL= 13552, 21441, 24978, 29587, AGC= 43, IDX= 505,-0.03, 0.112,-1.772,-1.355,-0.308, PHS= 0.507,-1.417,-1.050, RAW= 100.3,  21.4, CAL= 107.1,  25.7, ROT=  42.9, -25.7

2025-06-05T16:55:18.652Z,1749142518.652 [DAT](INFO): got valid direction response:
 16:55:17.4017 LVL= 13552, 21441, 24978, 29587, AGC= 43, IDX= 505,-0.03, 0.112,-1.772,-1.355,-0.308, PHS= 0.507,-1.417,-1.050, RAW= 100.3,  21.4, CAL= 107.1,  25.7, ROT=  42.9, -25.7

2025-06-05T16:55:18.652Z,1749142518.652 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-06-05T16:55:18.653Z,1749142518.653 [DAT](INFO): direction in FSK: [0.660078,0.613382,0.433659]
2025-06-05T16:55:18.653Z,1749142518.653 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:18.657Z,1749142518.657 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=28.994036
2025-06-05T16:55:18.853Z,1749142518.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.503657 s,
      deltaX: -0.200000 m,
      approachRate: -0.397095 m/s,
      rangeRepo size: 4

2025-06-05T16:55:18.861Z,1749142518.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.760510 m,
      bearing: 325.965954 deg,
      lat: 36.906276 deg,
      lon: -122.115932 deg,
      deltaT: 11.595793 s,
      deltaX: -5.256496 m,
      approachRate: -0.453311 m/s,
      posRepo size: 4

2025-06-05T16:55:18.866Z,1749142518.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.76 m. 10.02 m.
2025-06-05T16:55:18.883Z,1749142518.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 4.329197 m,
      bearing: 326.904679 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 279.822578 deg,
      new cmd heading: 278.499970 deg.

2025-06-05T16:55:18.895Z,1749142518.895 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=29.231567
2025-06-05T16:55:18.897Z,1749142518.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860742 target range: 10.017007 and range: 4.80 m.
2025-06-05T16:55:19.145Z,1749142519.145 [DAT](INFO): DAT read: Rx Time:16:55:17.9015 

2025-06-05T16:55:19.145Z,1749142519.145 [DAT](INFO): Rx dataTimestamp_ set to:1749142519.145185
2025-06-05T16:55:19.148Z,1749142519.148 [DAT](INFO): DAT read: Bearing  50.9, -33.3 (Local)

2025-06-05T16:55:19.149Z,1749142519.149 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.9, -33.3 (Local)

2025-06-05T16:55:19.152Z,1749142519.152 [DAT](INFO): DAT read: Range 10 to 50 :     4.5 m (trip time 3.0 ms) speed 0.3

2025-06-05T16:55:19.157Z,1749142519.157 [DAT](INFO): DAT read: 16:55:17.9015 LVL= 16096, 28465, 30530, 32755, AGC= 43, IDX= 503,-0.19,-2.852, 1.745, 1.974,-3.119, PHS= 0.355,-1.372,-1.193, RAW=  95.4,  25.4, CAL=  99.1,  33.3, ROT=  50.9, -33.3

2025-06-05T16:55:19.158Z,1749142519.158 [DAT](INFO): got valid direction response:
 16:55:17.9015 LVL= 16096, 28465, 30530, 32755, AGC= 43, IDX= 503,-0.19,-2.852, 1.745, 1.974,-3.119, PHS= 0.355,-1.372,-1.193, RAW=  95.4,  25.4, CAL=  99.1,  33.3, ROT=  50.9, -33.3

2025-06-05T16:55:19.162Z,1749142519.162 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-06-05T16:55:19.165Z,1749142519.165 [DAT](INFO): direction in FSK: [0.527123,0.648625,0.549023]
2025-06-05T16:55:19.166Z,1749142519.166 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:19.170Z,1749142519.170 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=29.507072
2025-06-05T16:55:19.344Z,1749142519.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.505362 s,
      deltaX: -0.300000 m,
      approachRate: -0.593634 m/s,
      rangeRepo size: 4

2025-06-05T16:55:19.346Z,1749142519.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.462978 m,
      bearing: 331.375333 deg,
      lat: 36.906279 deg,
      lon: -122.115926 deg,
      deltaT: 12.101155 s,
      deltaX: -5.554029 m,
      approachRate: -0.458967 m/s,
      posRepo size: 4

2025-06-05T16:55:19.351Z,1749142519.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.46 m. 10.02 m.
2025-06-05T16:55:19.354Z,1749142519.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 4.118918 m,
      bearing: 328.579931 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 278.499980 deg,
      new cmd heading: 277.268577 deg.

2025-06-05T16:55:19.359Z,1749142519.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.839250 target range: 10.017007 and range: 4.50 m.
2025-06-05T16:55:19.395Z,1749142519.395 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=29.732496
2025-06-05T16:55:19.649Z,1749142519.649 [DAT](INFO): DAT read: Rx Time:16:55:18.4014 

2025-06-05T16:55:19.649Z,1749142519.649 [DAT](INFO): Rx dataTimestamp_ set to:1749142519.648945
2025-06-05T16:55:19.651Z,1749142519.651 [DAT](INFO): DAT read: Bearing  58.4, -34.2 (Local)

2025-06-05T16:55:19.651Z,1749142519.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.4, -34.2 (Local)

2025-06-05T16:55:19.653Z,1749142519.653 [DAT](INFO): DAT read: Range 10 to 50 :     4.4 m (trip time 2.9 ms) speed 0.4

2025-06-05T16:55:19.657Z,1749142519.657 [DAT](INFO): DAT read: 16:55:18.4014 LVL= 19568, 27441, 25858, 32755, AGC= 42, IDX= 502,-0.26, 0.859,-0.821,-0.784, 0.592, PHS= 0.355,-1.366,-1.379, RAW=  89.6,  26.1, CAL=  91.6,  34.2, ROT=  58.4, -34.2

2025-06-05T16:55:19.659Z,1749142519.659 [DAT](INFO): got valid direction response:
 16:55:18.4014 LVL= 19568, 27441, 25858, 32755, AGC= 42, IDX= 502,-0.26, 0.859,-0.821,-0.784, 0.592, PHS= 0.355,-1.366,-1.379, RAW=  89.6,  26.1, CAL=  91.6,  34.2, ROT=  58.4, -34.2

2025-06-05T16:55:19.659Z,1749142519.659 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-06-05T16:55:19.660Z,1749142519.660 [DAT](INFO): direction in FSK: [0.433379,0.704447,0.562083]
2025-06-05T16:55:19.660Z,1749142519.660 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:19.665Z,1749142519.665 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=30.001911
2025-06-05T16:55:19.692Z,1749142519.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.503760 s,
      deltaX: -0.100000 m,
      approachRate: -0.198507 m/s,
      rangeRepo size: 4

2025-06-05T16:55:19.699Z,1749142519.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.363801 m,
      bearing: 337.748335 deg,
      lat: 36.906280 deg,
      lon: -122.115921 deg,
      deltaT: 12.604915 s,
      deltaX: -5.653206 m,
      approachRate: -0.448492 m/s,
      posRepo size: 4

2025-06-05T16:55:19.700Z,1749142519.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.36 m. 10.02 m.
2025-06-05T16:55:19.707Z,1749142519.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 3.974445 m,
      bearing: 329.897278 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 277.268579 deg,
      new cmd heading: 276.425221 deg.

2025-06-05T16:55:19.708Z,1749142519.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824530 target range: 10.017007 and range: 4.40 m.
2025-06-05T16:55:19.902Z,1749142519.902 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=30.238764
2025-06-05T16:55:20.152Z,1749142520.152 [DAT](INFO): DAT read: Rx Time:16:55:18.9012 

2025-06-05T16:55:20.152Z,1749142520.152 [DAT](INFO): Rx dataTimestamp_ set to:1749142520.151880
2025-06-05T16:55:20.153Z,1749142520.153 [DAT](INFO): DAT read: Bearing  57.8, -32.1 (Local)

2025-06-05T16:55:20.154Z,1749142520.154 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.8, -32.1 (Local)

2025-06-05T16:55:20.156Z,1749142520.156 [DAT](INFO): DAT read: Range 10 to 50 :     4.1 m (trip time 2.7 ms) speed 0.3

2025-06-05T16:55:20.160Z,1749142520.160 [DAT](INFO): DAT read: 16:55:18.9012 LVL= 17232, 32753, 31074, 32755, AGC= 43, IDX= 499, 0.50, 0.259,-1.602,-1.576,-0.116, PHS= 0.462,-1.440,-1.464, RAW=  89.4,  24.3, CAL=  92.2,  32.1, ROT=  57.8, -32.1

2025-06-05T16:55:20.161Z,1749142520.161 [DAT](INFO): got valid direction response:
 16:55:18.9012 LVL= 17232, 32753, 31074, 32755, AGC= 43, IDX= 499, 0.50, 0.259,-1.602,-1.576,-0.116, PHS= 0.462,-1.440,-1.464, RAW=  89.4,  24.3, CAL=  92.2,  32.1, ROT=  57.8, -32.1

2025-06-05T16:55:20.162Z,1749142520.162 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-06-05T16:55:20.163Z,1749142520.163 [DAT](INFO): direction in FSK: [0.451411,0.716829,0.531399]
2025-06-05T16:55:20.163Z,1749142520.163 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:20.168Z,1749142520.168 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=30.505472
2025-06-05T16:55:20.223Z,1749142520.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.502935 s,
      deltaX: -0.300000 m,
      approachRate: -0.596499 m/s,
      rangeRepo size: 4

2025-06-05T16:55:20.225Z,1749142520.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.066275 m,
      bearing: 336.480483 deg,
      lat: 36.906280 deg,
      lon: -122.115917 deg,
      deltaT: 13.107850 s,
      deltaX: -5.950732 m,
      approachRate: -0.453982 m/s,
      posRepo size: 4

2025-06-05T16:55:20.232Z,1749142520.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.07 m. 10.02 m.
2025-06-05T16:55:20.239Z,1749142520.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 3.762854 m,
      bearing: 331.941709 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 276.425214 deg,
      new cmd heading: 275.117926 deg.

2025-06-05T16:55:20.240Z,1749142520.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801713 target range: 10.017007 and range: 4.10 m.
2025-06-05T16:55:20.403Z,1749142520.403 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=30.740757
2025-06-05T16:55:20.453Z,1749142520.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:20.470Z,1749142520.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.02 m. 10.02 m.
2025-06-05T16:55:20.473Z,1749142520.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 3.663923 m,
      bearing: 333.029734 deg,
      approach rate: -0.403072 m/s,
      LOS rate: 4.552306 deg/s,
      cmd heading: 275.117916 deg,
      new cmd heading: 278.466108 deg.

2025-06-05T16:55:20.486Z,1749142520.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860150 target range: 10.017007 and range: 4.10 m.
2025-06-05T16:55:20.657Z,1749142520.657 [DAT](INFO): DAT read: Rx Time:16:55:19.4011 

2025-06-05T16:55:20.658Z,1749142520.658 [DAT](INFO): Rx dataTimestamp_ set to:1749142520.657667
2025-06-05T16:55:20.659Z,1749142520.659 [DAT](INFO): DAT read: Bearing  53.9, -30.5 (Local)

2025-06-05T16:55:20.660Z,1749142520.660 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.9, -30.5 (Local)

2025-06-05T16:55:20.662Z,1749142520.662 [DAT](INFO): DAT read: Range 10 to 50 :     3.9 m (trip time 2.6 ms) speed 0.3

2025-06-05T16:55:20.669Z,1749142520.669 [DAT](INFO): DAT read: 16:55:19.4011 LVL= 14992, 32753, 27954, 32739, AGC= 41, IDX= 499, 0.17, 2.728, 0.691, 0.825, 2.278, PHS= 0.538,-1.540,-1.457, RAW=  92.0,  23.1, CAL=  96.1,  30.5, ROT=  53.9, -30.5

2025-06-05T16:55:20.670Z,1749142520.670 [DAT](INFO): got valid direction response:
 16:55:19.4011 LVL= 14992, 32753, 27954, 32739, AGC= 41, IDX= 499, 0.17, 2.728, 0.691, 0.825, 2.278, PHS= 0.538,-1.540,-1.457, RAW=  92.0,  23.1, CAL=  96.1,  30.5, ROT=  53.9, -30.5

2025-06-05T16:55:20.674Z,1749142520.674 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-06-05T16:55:20.675Z,1749142520.675 [DAT](INFO): direction in FSK: [0.507669,0.696188,0.507538]
2025-06-05T16:55:20.676Z,1749142520.676 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:20.687Z,1749142520.687 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=31.024755
2025-06-05T16:55:20.878Z,1749142520.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.505787 s,
      deltaX: -0.200000 m,
      approachRate: -0.395423 m/s,
      rangeRepo size: 4

2025-06-05T16:55:20.890Z,1749142520.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.867939 m,
      bearing: 331.057520 deg,
      lat: 36.906279 deg,
      lon: -122.115917 deg,
      deltaT: 13.613637 s,
      deltaX: -6.149068 m,
      approachRate: -0.451684 m/s,
      posRepo size: 4

2025-06-05T16:55:20.891Z,1749142520.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.87 m. 10.02 m.
2025-06-05T16:55:20.898Z,1749142520.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 3.507591 m,
      bearing: 334.958807 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 278.466102 deg,
      new cmd heading: 277.450493 deg.

2025-06-05T16:55:20.911Z,1749142520.911 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=31.246983
2025-06-05T16:55:20.912Z,1749142520.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842424 target range: 10.017007 and range: 3.90 m.
2025-06-05T16:55:21.159Z,1749142521.159 [DAT](INFO): DAT read: Rx Time:16:55:19.9009 

2025-06-05T16:55:21.160Z,1749142521.160 [DAT](INFO): Rx dataTimestamp_ set to:1749142521.159441
2025-06-05T16:55:21.161Z,1749142521.161 [DAT](INFO): DAT read: Range 10 to 50 :     3.6 m (trip time 2.4 ms) speed 0.3

2025-06-05T16:55:21.161Z,1749142521.161 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-06-05T16:55:21.162Z,1749142521.162 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=31.499794
2025-06-05T16:55:21.384Z,1749142521.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.501774 s,
      deltaX: -0.300000 m,
      approachRate: -0.597879 m/s,
      rangeRepo size: 4

2025-06-05T16:55:21.385Z,1749142521.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.02 m. 10.02 m.
2025-06-05T16:55:21.392Z,1749142521.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 3.324731 m,
      bearing: 337.572861 deg,
      approach rate: -0.371052 m/s,
      LOS rate: 5.594106 deg/s,
      cmd heading: 277.450480 deg,
      new cmd heading: 285.664356 deg.

2025-06-05T16:55:21.393Z,1749142521.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.985784 target range: 10.017007 and range: 3.60 m.
2025-06-05T16:55:21.411Z,1749142521.411 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=31.748585
2025-06-05T16:55:21.664Z,1749142521.664 [DAT](INFO): DAT read: Rx Time:16:55:20.4010 

2025-06-05T16:55:21.665Z,1749142521.665 [DAT](INFO): Rx dataTimestamp_ set to:1749142521.664832
2025-06-05T16:55:21.667Z,1749142521.667 [DAT](INFO): DAT read: Bearing  38.1, -23.6 (Local)

2025-06-05T16:55:21.667Z,1749142521.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing  38.1, -23.6 (Local)

2025-06-05T16:55:21.669Z,1749142521.669 [DAT](INFO): DAT read: Range 10 to 50 :     3.8 m (trip time 2.5 ms) speed 0.2

2025-06-05T16:55:21.674Z,1749142521.674 [DAT](INFO): DAT read: 16:55:20.4010 LVL= 15472, 32753, 21954, 32227, AGC= 43, IDX= 513,-0.02, 1.191,-1.005,-0.362, 0.725, PHS= 0.554,-1.683,-1.090, RAW= 104.8,  21.3, CAL= 111.9,  23.6, ROT=  38.1, -23.6

2025-06-05T16:55:21.675Z,1749142521.675 [DAT](INFO): got valid direction response:
 16:55:20.4010 LVL= 15472, 32753, 21954, 32227, AGC= 43, IDX= 513,-0.02, 1.191,-1.005,-0.362, 0.725, PHS= 0.554,-1.683,-1.090, RAW= 104.8,  21.3, CAL= 111.9,  23.6, ROT=  38.1, -23.6

2025-06-05T16:55:21.676Z,1749142521.676 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-06-05T16:55:21.677Z,1749142521.677 [DAT](INFO): direction in FSK: [0.721118,0.565429,0.400349]
2025-06-05T16:55:21.677Z,1749142521.677 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:21.682Z,1749142521.682 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=32.018494
2025-06-05T16:55:21.808Z,1749142521.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.505391 s,
      deltaX: 0.200000 m,
      approachRate: 0.395733 m/s,
      rangeRepo size: 4

2025-06-05T16:55:21.822Z,1749142521.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.768760 m,
      bearing: 314.749761 deg,
      lat: 36.906279 deg,
      lon: -122.115917 deg,
      deltaT: 14.620802 s,
      deltaX: -6.248246 m,
      approachRate: -0.427353 m/s,
      posRepo size: 4

2025-06-05T16:55:21.824Z,1749142521.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.77 m. 10.02 m.
2025-06-05T16:55:21.835Z,1749142521.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 3.205162 m,
      bearing: 339.546028 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.819124 deg/s,
      cmd heading: 285.664357 deg,
      new cmd heading: 284.721158 deg.

2025-06-05T16:55:21.836Z,1749142521.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.969322 target range: 10.017007 and range: 3.80 m.
2025-06-05T16:55:21.920Z,1749142521.920 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=32.256973
2025-06-05T16:55:22.167Z,1749142522.167 [DAT](INFO): DAT read: Rx Time:16:55:20.9008 

2025-06-05T16:55:22.168Z,1749142522.168 [DAT](INFO): Rx dataTimestamp_ set to:1749142522.167406
2025-06-05T16:55:22.169Z,1749142522.169 [DAT](INFO): DAT read: Range 10 to 50 :     3.5 m (trip time 2.3 ms) speed 0.2

2025-06-05T16:55:22.169Z,1749142522.169 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-06-05T16:55:22.170Z,1749142522.170 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=32.507767
2025-06-05T16:55:22.279Z,1749142522.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.502574 s,
      deltaX: -0.300000 m,
      approachRate: -0.596927 m/s,
      rangeRepo size: 4

2025-06-05T16:55:22.280Z,1749142522.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.02 m. 10.02 m.
2025-06-05T16:55:22.288Z,1749142522.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 3.017106 m,
      bearing: 343.072300 deg,
      approach rate: -0.361752 m/s,
      LOS rate: 7.201516 deg/s,
      cmd heading: 284.721162 deg,
      new cmd heading: 295.811646 deg.

2025-06-05T16:55:22.289Z,1749142522.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.162887 target range: 10.017007 and range: 3.50 m.
2025-06-05T16:55:22.419Z,1749142522.419 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=32.756718
2025-06-05T16:55:22.575Z,1749142522.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:22.577Z,1749142522.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.02 m. 10.02 m.
2025-06-05T16:55:22.581Z,1749142522.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 2.919797 m,
      bearing: 345.256409 deg,
      approach rate: -0.320943 m/s,
      LOS rate: 7.441920 deg/s,
      cmd heading: 295.811641 deg,
      new cmd heading: 302.549467 deg.

2025-06-05T16:55:22.583Z,1749142522.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280484 target range: 10.017007 and range: 3.50 m.
2025-06-05T16:55:22.671Z,1749142522.671 [DAT](INFO): DAT read: Rx Time:16:55:21.4007 

2025-06-05T16:55:22.672Z,1749142522.672 [DAT](INFO): Rx dataTimestamp_ set to:1749142522.671618
2025-06-05T16:55:22.673Z,1749142522.673 [DAT](INFO): DAT read: Range 10 to 50 :     3.3 m (trip time 2.2 ms) speed 0.2

2025-06-05T16:55:22.674Z,1749142522.674 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-06-05T16:55:22.675Z,1749142522.675 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=33.012142
2025-06-05T16:55:22.925Z,1749142522.925 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=33.261971
2025-06-05T16:55:23.129Z,1749142523.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.504212 s,
      deltaX: -0.200000 m,
      approachRate: -0.396659 m/s,
      rangeRepo size: 4

2025-06-05T16:55:23.130Z,1749142523.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 10.02 m. 10.02 m.
2025-06-05T16:55:23.151Z,1749142523.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.017007 m,
      nav range: 2.768851 m,
      bearing: 349.494382 deg,
      approach rate: -0.273831 m/s,
      LOS rate: 8.099818 deg/s,
      cmd heading: 302.549458 deg,
      new cmd heading: 315.707939 deg.

2025-06-05T16:55:23.152Z,1749142523.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510143 target range: 10.017007 and range: 3.30 m.
2025-06-05T16:55:23.178Z,1749142523.178 [DAT](INFO): DAT read: Rx Time:16:55:21.9005 

2025-06-05T16:55:23.179Z,1749142523.179 [DAT](INFO): Rx dataTimestamp_ set to:1749142523.178644
2025-06-05T16:55:23.184Z,1749142523.184 [DAT](INFO): DAT read: Bearing  40.3, -49.0 (Local)

2025-06-05T16:55:23.184Z,1749142523.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.3, -49.0 (Local)

2025-06-05T16:55:23.188Z,1749142523.188 [DAT](INFO): DAT read: Range 10 to 50 :     3.0 m (trip time 2.0 ms) speed 0.2

2025-06-05T16:55:23.217Z,1749142523.217 [DAT](INFO): DAT read: 16:55:21.9005 LVL= 23024, 20145, 20322, 30835, AGC= 44, IDX= 509,-0.39, 0.701,-1.050,-0.497, 1.000, PHS=-0.211,-2.003,-1.500, RAW= 105.8,  39.4, CAL= 109.7,  49.0, ROT=  40.3, -49.0

2025-06-05T16:55:23.227Z,1749142523.227 [DAT](INFO): got valid direction response:
 16:55:21.9005 LVL= 23024, 20145, 20322, 30835, AGC= 44, IDX= 509,-0.39, 0.701,-1.050,-0.497, 1.000, PHS=-0.211,-2.003,-1.500, RAW= 105.8,  39.4, CAL= 109.7,  49.0, ROT=  40.3, -49.0

2025-06-05T16:55:23.227Z,1749142523.227 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-05T16:55:23.228Z,1749142523.228 [DAT](INFO): direction in FSK: [0.500355,0.424332,0.754710]
2025-06-05T16:55:23.228Z,1749142523.228 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:23.245Z,1749142523.245 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=33.582607
2025-06-05T16:55:23.428Z,1749142523.428 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=33.764965
2025-06-05T16:55:23.458Z,1749142523.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.507026 s,
      deltaX: -0.300000 m,
      approachRate: -0.591686 m/s,
      rangeRepo size: 4

2025-06-05T16:55:23.466Z,1749142523.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.975406 m,
      bearing: 312.269507 deg,
      lat: 36.906278 deg,
      lon: -122.115922 deg,
      deltaT: 16.134614 s,
      deltaX: -7.041601 m,
      approachRate: -0.436428 m/s,
      posRepo size: 4

2025-06-05T16:55:23.471Z,1749142523.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m.
2025-06-05T16:55:23.471Z,1749142523.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-05T16:55:23.680Z,1749142523.680 [DAT](INFO): DAT read: Rx Time:16:55:22.4006 

2025-06-05T16:55:23.681Z,1749142523.681 [DAT](INFO): Rx dataTimestamp_ set to:1749142523.680367
2025-06-05T16:55:23.683Z,1749142523.683 [DAT](INFO): DAT read: Bearing  54.3, -60.4 (Local)

2025-06-05T16:55:23.684Z,1749142523.684 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.3, -60.4 (Local)

2025-06-05T16:55:23.686Z,1749142523.686 [DAT](INFO): DAT read: Range 10 to 50 :     3.2 m (trip time 2.1 ms) speed 0.1

2025-06-05T16:55:23.690Z,1749142523.690 [DAT](INFO): DAT read: 16:55:22.4006 LVL= 17936, 25617, 31570, 32755, AGC= 46, IDX= 509, 0.02, 0.461,-0.527,-0.374, 1.204, PHS=-0.655,-1.684,-1.581, RAW=  95.2,  54.7, CAL=  95.7,  60.4, ROT=  54.3, -60.4

2025-06-05T16:55:23.691Z,1749142523.691 [DAT](INFO): got valid direction response:
 16:55:22.4006 LVL= 17936, 25617, 31570, 32755, AGC= 46, IDX= 509, 0.02, 0.461,-0.527,-0.374, 1.204, PHS=-0.655,-1.684,-1.581, RAW=  95.2,  54.7, CAL=  95.7,  60.4, ROT=  54.3, -60.4

2025-06-05T16:55:23.692Z,1749142523.692 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-05T16:55:23.693Z,1749142523.693 [DAT](INFO): direction in FSK: [0.288235,0.401122,0.869495]
2025-06-05T16:55:23.693Z,1749142523.693 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:23.697Z,1749142523.697 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=34.033875
2025-06-05T16:55:23.883Z,1749142523.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.501723 s,
      deltaX: 0.200000 m,
      approachRate: 0.398626 m/s,
      rangeRepo size: 4

2025-06-05T16:55:23.885Z,1749142523.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.173817 m,
      bearing: 322.886665 deg,
      lat: 36.906275 deg,
      lon: -122.115929 deg,
      deltaT: 0.501723 s,
      deltaX: 0.198411 m,
      approachRate: 0.395459 m/s,
      posRepo size: 4

2025-06-05T16:55:23.945Z,1749142523.945 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=34.281158
2025-06-05T16:55:24.184Z,1749142524.184 [DAT](INFO): DAT read: Rx Time:16:55:22.9005 

2025-06-05T16:55:24.184Z,1749142524.184 [DAT](INFO): Rx dataTimestamp_ set to:1749142524.184078
2025-06-05T16:55:24.186Z,1749142524.186 [DAT](INFO): DAT read: Bearing  87.2, -45.9 (Local)

2025-06-05T16:55:24.186Z,1749142524.186 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.2, -45.9 (Local)

2025-06-05T16:55:24.188Z,1749142524.188 [DAT](INFO): DAT read: Range 10 to 50 :     3.0 m (trip time 2.0 ms) speed 0.1

2025-06-05T16:55:24.192Z,1749142524.192 [DAT](INFO): DAT read: 16:55:22.9005 LVL= 16720, 31985, 25074, 32755, AGC= 48, IDX= 507, 0.19, 1.945, 0.952, 0.246, 2.277, PHS=-0.243,-1.277,-2.034, RAW=  65.1,  38.9, CAL=  62.8,  45.9, ROT=  87.2, -45.9

2025-06-05T16:55:24.194Z,1749142524.194 [DAT](INFO): got valid direction response:
 16:55:22.9005 LVL= 16720, 31985, 25074, 32755, AGC= 48, IDX= 507, 0.19, 1.945, 0.952, 0.246, 2.277, PHS=-0.243,-1.277,-2.034, RAW=  65.1,  38.9, CAL=  62.8,  45.9, ROT=  87.2, -45.9

2025-06-05T16:55:24.195Z,1749142524.195 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-06-05T16:55:24.196Z,1749142524.196 [DAT](INFO): direction in FSK: [0.033995,0.695082,0.718126]
2025-06-05T16:55:24.196Z,1749142524.196 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:24.201Z,1749142524.201 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=34.538235
2025-06-05T16:55:24.354Z,1749142524.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.503711 s,
      deltaX: -0.200000 m,
      approachRate: -0.397053 m/s,
      rangeRepo size: 4

2025-06-05T16:55:24.356Z,1749142524.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.975453 m,
      bearing: 0.296925 deg,
      lat: 36.906275 deg,
      lon: -122.115929 deg,
      deltaT: 0.503711 s,
      deltaX: -0.198364 m,
      approachRate: -0.393804 m/s,
      posRepo size: 4

2025-06-05T16:55:24.436Z,1749142524.436 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=34.773628
2025-06-05T16:55:24.624Z,1749142524.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:24.687Z,1749142524.687 [DAT](INFO): DAT read: Rx Time:16:55:23.4005 

2025-06-05T16:55:24.688Z,1749142524.688 [DAT](INFO): Rx dataTimestamp_ set to:1749142524.687481
2025-06-05T16:55:24.689Z,1749142524.689 [DAT](INFO): DAT read: Range 10 to 50 :     3.0 m (trip time 2.0 ms) speed 0.0

2025-06-05T16:55:24.689Z,1749142524.689 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-06-05T16:55:24.691Z,1749142524.691 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=35.028130
2025-06-05T16:55:24.940Z,1749142524.940 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=35.276653
2025-06-05T16:55:25.089Z,1749142525.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.503403 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:25.193Z,1749142525.193 [DAT](INFO): DAT read: Rx Time:16:55:23.9004 

2025-06-05T16:55:25.194Z,1749142525.194 [DAT](INFO): Rx dataTimestamp_ set to:1749142525.192818
2025-06-05T16:55:25.196Z,1749142525.196 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-06-05T16:55:25.197Z,1749142525.197 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-06-05T16:55:25.199Z,1749142525.199 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=35.536190
2025-06-05T16:55:25.445Z,1749142525.445 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=35.781837
2025-06-05T16:55:25.465Z,1749142525.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.505337 s,
      deltaX: -0.100000 m,
      approachRate: -0.197888 m/s,
      rangeRepo size: 4

2025-06-05T16:55:25.471Z,1749142525.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.90 m.
2025-06-05T16:55:25.697Z,1749142525.697 [DAT](INFO): DAT read: Rx Time:16:55:24.4005 

2025-06-05T16:55:25.698Z,1749142525.698 [DAT](INFO): Rx dataTimestamp_ set to:1749142525.696729
2025-06-05T16:55:25.699Z,1749142525.699 [DAT](INFO): DAT read: Range 10 to 50 :     3.0 m (trip time 2.0 ms) speed 0.0

2025-06-05T16:55:25.700Z,1749142525.700 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-06-05T16:55:25.702Z,1749142525.702 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=36.038647
2025-06-05T16:55:25.839Z,1749142525.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.503911 s,
      deltaX: 0.100000 m,
      approachRate: 0.198448 m/s,
      rangeRepo size: 4

2025-06-05T16:55:25.949Z,1749142525.949 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=36.286346
2025-06-05T16:55:26.199Z,1749142526.199 [DAT](INFO): DAT read: Rx Time:16:55:24.9005 

2025-06-05T16:55:26.200Z,1749142526.200 [DAT](INFO): Rx dataTimestamp_ set to:1749142526.199625
2025-06-05T16:55:26.201Z,1749142526.201 [DAT](INFO): DAT read: Range 10 to 50 :     3.0 m (trip time 2.0 ms) speed -0.2

2025-06-05T16:55:26.202Z,1749142526.202 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-06-05T16:55:26.203Z,1749142526.203 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=36.540012
2025-06-05T16:55:26.306Z,1749142526.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.502896 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:26.307Z,1749142526.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.00 m.
2025-06-05T16:55:26.451Z,1749142526.451 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=36.788387
2025-06-05T16:55:26.704Z,1749142526.704 [DAT](INFO): DAT read: Rx Time:16:55:25.4005 

2025-06-05T16:55:26.704Z,1749142526.704 [DAT](INFO): Rx dataTimestamp_ set to:1749142526.703830
2025-06-05T16:55:26.705Z,1749142526.705 [DAT](INFO): DAT read: Range 10 to 50 :     3.0 m (trip time 2.0 ms) speed -0.1

2025-06-05T16:55:26.706Z,1749142526.706 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-06-05T16:55:26.707Z,1749142526.707 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=37.044216
2025-06-05T16:55:26.707Z,1749142526.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:26.710Z,1749142526.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.504205 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:26.713Z,1749142526.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.00 m.
2025-06-05T16:55:26.955Z,1749142526.955 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=37.292515
2025-06-05T16:55:27.154Z,1749142527.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.00 m.
2025-06-05T16:55:27.207Z,1749142527.207 [DAT](INFO): DAT read: Rx Time:16:55:25.9005 

2025-06-05T16:55:27.208Z,1749142527.208 [DAT](INFO): Rx dataTimestamp_ set to:1749142527.207500
2025-06-05T16:55:27.209Z,1749142527.209 [DAT](INFO): DAT read: Range 10 to 50 :     3.0 m (trip time 2.0 ms) speed 0.0

2025-06-05T16:55:27.210Z,1749142527.210 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-06-05T16:55:27.211Z,1749142527.211 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=37.547874
2025-06-05T16:55:27.459Z,1749142527.459 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=37.796581
2025-06-05T16:55:27.469Z,1749142527.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.503670 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:27.470Z,1749142527.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.00 m.
2025-06-05T16:55:27.713Z,1749142527.713 [DAT](INFO): DAT read: Rx Time:16:55:26.4005 

2025-06-05T16:55:27.714Z,1749142527.714 [DAT](INFO): Rx dataTimestamp_ set to:1749142527.714043
2025-06-05T16:55:27.718Z,1749142527.718 [DAT](INFO): DAT read: Range 10 to 50 :     3.0 m (trip time 2.0 ms) speed -0.2

2025-06-05T16:55:27.718Z,1749142527.718 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-06-05T16:55:27.719Z,1749142527.719 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=38.056698
2025-06-05T16:55:27.891Z,1749142527.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.506543 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:27.964Z,1749142527.964 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=38.301250
2025-06-05T16:55:28.217Z,1749142528.217 [DAT](INFO): DAT read: Rx Time:16:55:26.9005 

2025-06-05T16:55:28.218Z,1749142528.218 [DAT](INFO): Rx dataTimestamp_ set to:1749142528.217409
2025-06-05T16:55:28.220Z,1749142528.220 [DAT](INFO): DAT read: Bearing 109.1, -39.3 (Local)

2025-06-05T16:55:28.220Z,1749142528.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing 109.1, -39.3 (Local)

2025-06-05T16:55:28.222Z,1749142528.222 [DAT](INFO): DAT read: Range 10 to 50 :     3.0 m (trip time 2.0 ms) speed -0.2

2025-06-05T16:55:28.226Z,1749142528.226 [DAT](INFO): DAT read: 16:55:26.9005 LVL= 23056, 26401, 32754, 32755, AGC= 47, IDX= 508, 0.06, 2.48, 1126, PHS=-0.227,-0.731,-2.124,4.9,  32.6, CAL=  40.9,  39.3, ROT= 109.1, -39.3

2025-06-05T16:55:28.228Z,1749142528.228 [DAT](INFO): unknown deviceResponse_: 16:55:26.9005 LVL= 23056, 26401, 32754, 32755, AGC= 47, IDX= 508, 0.06, 2.48, 1126, PHS=-0.227,-0.731,-2.124,4.9,  32.6, CAL=  40.9,  39.3, ROT= 109.1, -39.3

2025-06-05T16:55:28.228Z,1749142528.228 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-06-05T16:55:28.229Z,1749142528.229 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=38.566299
2025-06-05T16:55:28.432Z,1749142528.432 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-32768-32768,-32768,V
2025-06-05T16:55:28.451Z,1749142528.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.503366 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:28.467Z,1749142528.467 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=38.804489
2025-06-05T16:55:28.720Z,1749142528.720 [DAT](INFO): DAT read: Rx Time:16:55:27.4007 

2025-06-05T16:55:28.721Z,1749142528.721 [DAT](INFO): Rx dataTimestamp_ set to:1749142528.720212
2025-06-05T16:55:28.723Z,1749142528.723 [DAT](INFO): DAT read: Range 10 to 50 :     3.3 m (trip time 2.2 ms) speed -0.3

2025-06-05T16:55:28.724Z,1749142528.724 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-06-05T16:55:28.725Z,1749142528.725 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=39.062450
2025-06-05T16:55:28.849Z,1749142528.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:28.856Z,1749142528.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.502803 s,
      deltaX: 0.300000 m,
      approachRate: 0.596655 m/s,
      rangeRepo size: 4

2025-06-05T16:55:28.972Z,1749142528.972 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=39.309677
2025-06-05T16:55:29.224Z,1749142529.224 [DAT](INFO): DAT read: Rx Time:16:55:27.9007 

2025-06-05T16:55:29.224Z,1749142529.224 [DAT](INFO): Rx dataTimestamp_ set to:1749142529.223924
2025-06-05T16:55:29.225Z,1749142529.225 [DAT](INFO): DAT read: Bearing 108.3, -31.5 (Local)

2025-06-05T16:55:29.226Z,1749142529.226 [DAT](INFO): Local bearing/azimuth received:
 Bearing 108.3, -31.5 (Local)

2025-06-05T16:55:29.228Z,1749142529.228 [DAT](INFO): DAT read: Range 10 to 50 :     3.3 m (trip time 2.2 ms) speed -0.3

2025-06-05T16:55:29.234Z,1749142529.234 [DAT](INFO): DAT read: 16:55:27.9007 LVL= 18320, 21601, 26402, 22835, AGC= 41, IDX= 510,-0.32,-2.538,-3.094, 1.661,-2.539, PHS= 0.090,-0.508,-2.086, RAW=  45.4,  24.5, CAL=  41.7,  31.5, ROT= 108.3, -31.5

2025-06-05T16:55:29.235Z,1749142529.235 [DAT](INFO): got valid direction response:
 16:55:27.9007 LVL= 18320, 21601, 26402, 22835, AGC= 41, IDX= 510,-0.32,-2.538,-3.094, 1.661,-2.539, PHS= 0.090,-0.508,-2.086, RAW=  45.4,  24.5, CAL=  41.7,  31.5, ROT= 108.3, -31.5

2025-06-05T16:55:29.235Z,1749142529.235 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-06-05T16:55:29.236Z,1749142529.236 [DAT](INFO): direction in FSK: [-0.267723,0.809518,0.522499]
2025-06-05T16:55:29.236Z,1749142529.236 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:29.244Z,1749142529.244 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=39.581783
2025-06-05T16:55:29.295Z,1749142529.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.503712 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:29.297Z,1749142529.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.273037 m,
      bearing: 42.209097 deg,
      lat: 36.906275 deg,
      lon: -122.115929 deg,
      deltaT: 5.039846 s,
      deltaX: 0.297584 m,
      approachRate: 0.059046 m/s,
      posRepo size: 4

2025-06-05T16:55:29.303Z,1749142529.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.30 m.
2025-06-05T16:55:29.489Z,1749142529.489 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=39.823078
2025-06-05T16:55:29.621Z,1749142529.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.30 m.
2025-06-05T16:55:29.735Z,1749142529.735 [DAT](INFO): DAT read: Rx Time:16:55:28.4010 

2025-06-05T16:55:29.736Z,1749142529.736 [DAT](INFO): Rx dataTimestamp_ set to:1749142529.735555
2025-06-05T16:55:29.737Z,1749142529.737 [DAT](INFO): DAT read: Range 10 to 50 :     3.8 m (trip time 2.5 ms) speed -0.3

2025-06-05T16:55:29.738Z,1749142529.738 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-06-05T16:55:29.739Z,1749142529.739 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=40.075958
2025-06-05T16:55:29.992Z,1749142529.992 [DAT](INFO): DAT read: Rx Time:16:55:28.9010 

2025-06-05T16:55:29.994Z,1749142529.994 [DAT](INFO): Rx dataTimestamp_ set to:1749142529.992819
2025-06-05T16:55:29.997Z,1749142529.997 [DAT](INFO): DAT read: Bearing 109.8, -14.6 (Local)

2025-06-05T16:55:29.998Z,1749142529.998 [DAT](INFO): Local bearing/azimuth received:
 Bearing 109.8, -14.6 (Local)

2025-06-05T16:55:30.001Z,1749142530.001 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=40.337540
2025-06-05T16:55:30.191Z,1749142530.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.511631 s,
      deltaX: 0.500000 m,
      approachRate: 0.977267 m/s,
      rangeRepo size: 4

2025-06-05T16:55:30.192Z,1749142530.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.80 m.
2025-06-05T16:55:30.241Z,1749142530.241 [DAT](INFO): DAT read: Range 10 to 50 :     3.8 m (trip time 2.5 ms) speed -0.3

2025-06-05T16:55:30.245Z,1749142530.245 [DAT](INFO): DAT read: 16:55:28.9010 LVL= 17600, 22593, 21362, 22835, AGC= 37, IDX= 512,-0.16,-0.005,-0.508,-2.271,-0.547, PHS= 0.631, 0.087,-1.727, RAW=  42.7,   9.5, CAL=  40.2,  14.6, ROT= 109.8, -14.6

2025-06-05T16:55:30.247Z,1749142530.247 [DAT](INFO): got valid direction response:
 16:55:28.9010 LVL= 17600, 22593, 21362, 22835, AGC= 37, IDX= 512,-0.16,-0.005,-0.508,-2.271,-0.547, PHS= 0.631, 0.087,-1.727, RAW=  42.7,   9.5, CAL=  40.2,  14.6, ROT= 109.8, -14.6

2025-06-05T16:55:30.248Z,1749142530.248 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-06-05T16:55:30.249Z,1749142530.249 [DAT](INFO): direction in FSK: [-0.327800,0.910499,0.252069]
2025-06-05T16:55:30.250Z,1749142530.250 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:30.253Z,1749142530.253 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=40.590466
2025-06-05T16:55:30.494Z,1749142530.494 [DAT](INFO): DAT read: Rx Time:16:55:29.4011 

2025-06-05T16:55:30.494Z,1749142530.494 [DAT](INFO): Rx dataTimestamp_ set to:1749142530.493998
2025-06-05T16:55:30.495Z,1749142530.495 [DAT](INFO): DAT read: Range 10 to 50 :     3.9 m (trip time 2.6 ms) speed -0.4

2025-06-05T16:55:30.496Z,1749142530.496 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-06-05T16:55:30.498Z,1749142530.498 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=40.834633
2025-06-05T16:55:30.623Z,1749142530.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.758443 s,
      deltaX: 0.100000 m,
      approachRate: 0.131849 m/s,
      rangeRepo size: 4

2025-06-05T16:55:30.625Z,1749142530.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.868139 m,
      bearing: 48.509730 deg,
      lat: 36.906275 deg,
      lon: -122.115929 deg,
      deltaT: 1.270074 s,
      deltaX: 0.595101 m,
      approachRate: 0.468556 m/s,
      posRepo size: 4

2025-06-05T16:55:30.743Z,1749142530.743 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=41.080490
2025-06-05T16:55:30.999Z,1749142530.999 [DAT](INFO): DAT read: Rx Time:16:55:29.9012 

2025-06-05T16:55:31.000Z,1749142531.000 [DAT](INFO): Rx dataTimestamp_ set to:1749142530.999517
2025-06-05T16:55:31.007Z,1749142531.007 [DAT](INFO): DAT read: Bearing 119.9, -24.8 (Local)

2025-06-05T16:55:31.008Z,1749142531.008 [DAT](INFO): Local bearing/azimuth received:
 Bearing 119.9, -24.8 (Local)

2025-06-05T16:55:31.012Z,1749142531.012 [DAT](INFO): DAT read: Range 10 to 50 :     4.1 m (trip time 2.7 ms) speed -0.3

2025-06-05T16:55:31.053Z,1749142531.053 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-06-05T16:55:31.087Z,1749142531.087 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=41.410725
2025-06-05T16:55:31.220Z,1749142531.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:31.223Z,1749142531.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.505519 s,
      deltaX: 0.200000 m,
      approachRate: 0.395633 m/s,
      rangeRepo size: 4

2025-06-05T16:55:31.258Z,1749142531.258 [DAT](INFO): DAT read: 16:55:29.9012 LVL=  6768,  9537,  7010,  8947, AGC= 44, IDX=   1, 0.15, 0.608, 0.526,-1.425, 0.564, PHS= 0.132, 0.009,-1.992, RAW=  32.9,  17.6, CAL=  30.1,  24.8, ROT= 119.9, -24.8

2025-06-05T16:55:31.260Z,1749142531.260 [DAT](INFO): got valid direction response:
 16:55:29.9012 LVL=  6768,  9537,  7010,  8947, AGC= 44, IDX=   1, 0.15, 0.608, 0.526,-1.425, 0.564, PHS= 0.132, 0.009,-1.992, RAW=  32.9,  17.6, CAL=  30.1,  24.8, ROT= 119.9, -24.8

2025-06-05T16:55:31.260Z,1749142531.260 [DAT](INFO): #Rx 94: Read direction message, but no range.
2025-06-05T16:55:31.261Z,1749142531.261 [DAT](INFO): direction in FSK: [-0.452516,0.786949,0.419452]
2025-06-05T16:55:31.275Z,1749142531.275 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=41.612736
2025-06-05T16:55:31.503Z,1749142531.503 [DAT](INFO): DAT read: Rx Time:16:55:30.4014 

2025-06-05T16:55:31.504Z,1749142531.504 [DAT](INFO): Rx dataTimestamp_ set to:1749142531.503286
2025-06-05T16:55:31.507Z,1749142531.507 [DAT](INFO): DAT read: Bearing 121.8, -16.1 (Local)

2025-06-05T16:55:31.508Z,1749142531.508 [DAT](INFO): Local bearing/azimuth received:
 Bearing 121.8, -16.1 (Local)

2025-06-05T16:55:31.510Z,1749142531.510 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=41.846630
2025-06-05T16:55:31.753Z,1749142531.753 [DAT](INFO): DAT read: Range 10 to 50 :     4.4 m (trip time 2.9 ms) speed -0.3

2025-06-05T16:55:31.758Z,1749142531.758 [DAT](INFO): DAT read: 16:55:30.4014 LVL= 13792, 24977, 12978, 17139, AGC= 41, IDX= 499, 0.26, 1.604, 1.643,-0.440, 1.339, PHS= 0.353, 0.350,-1.782, RAW=  30.1,  10.1, CAL=  28.2,  16.1, ROT= 121.8, -16.1

2025-06-05T16:55:31.759Z,1749142531.759 [DAT](INFO): got valid direction response:
 16:55:30.4014 LVL= 13792, 24977, 12978, 17139, AGC= 41, IDX= 499, 0.26, 1.604, 1.643,-0.440, 1.339, PHS= 0.353, 0.350,-1.782, RAW=  30.1,  10.1, CAL=  28.2,  16.1, ROT= 121.8, -16.1

2025-06-05T16:55:31.759Z,1749142531.759 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-06-05T16:55:31.760Z,1749142531.760 [DAT](INFO): direction in FSK: [-0.506288,0.816559,0.277315]
2025-06-05T16:55:31.761Z,1749142531.761 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:31.766Z,1749142531.766 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=42.102985
2025-06-05T16:55:32.003Z,1749142532.003 [DAT](INFO): DAT read: Rx Time:16:55:30.9013 

2025-06-05T16:55:32.004Z,1749142532.004 [DAT](INFO): Rx dataTimestamp_ set to:1749142532.003680
2025-06-05T16:55:32.005Z,1749142532.005 [DAT](INFO): DAT read: Range 10 to 50 :     4.2 m (trip time 2.8 ms) speed -0.3

2025-06-05T16:55:32.006Z,1749142532.006 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-06-05T16:55:32.007Z,1749142532.007 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=42.344055
2025-06-05T16:55:32.020Z,1749142532.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 1.004163 s,
      deltaX: 0.100000 m,
      approachRate: 0.099585 m/s,
      rangeRepo size: 4

2025-06-05T16:55:32.027Z,1749142532.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.364058 m,
      bearing: 68.472062 deg,
      lat: 36.906280 deg,
      lon: -122.115924 deg,
      deltaT: 1.257146 s,
      deltaX: 0.495919 m,
      approachRate: 0.394480 m/s,
      posRepo size: 4

2025-06-05T16:55:32.257Z,1749142532.257 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=42.594181
2025-06-05T16:55:32.507Z,1749142532.507 [DAT](INFO): DAT read: Rx Time:16:55:31.4015 

2025-06-05T16:55:32.508Z,1749142532.508 [DAT](INFO): Rx dataTimestamp_ set to:1749142532.507499
2025-06-05T16:55:32.509Z,1749142532.509 [DAT](INFO): DAT read: Range 10 to 50 :     4.5 m (trip time 3.0 ms) speed -0.3

2025-06-05T16:55:32.510Z,1749142532.510 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-06-05T16:55:32.511Z,1749142532.511 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=42.848003
2025-06-05T16:55:32.555Z,1749142532.555 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:55:32.759Z,1749142532.759 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=43.096561
2025-06-05T16:55:32.800Z,1749142532.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.503819 s,
      deltaX: 0.300000 m,
      approachRate: 0.595452 m/s,
      rangeRepo size: 4

2025-06-05T16:55:33.011Z,1749142533.011 [DAT](INFO): DAT read: Rx Time:16:55:31.9015 

2025-06-05T16:55:33.012Z,1749142533.012 [DAT](INFO): Rx dataTimestamp_ set to:1749142533.011377
2025-06-05T16:55:33.013Z,1749142533.013 [DAT](INFO): DAT read: Range 10 to 50 :     4.5 m (trip time 3.0 ms) speed -0.3

2025-06-05T16:55:33.014Z,1749142533.014 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-06-05T16:55:33.021Z,1749142533.021 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=43.357071
2025-06-05T16:55:33.265Z,1749142533.265 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=43.601418
2025-06-05T16:55:33.345Z,1749142533.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:33.359Z,1749142533.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.503878 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:33.517Z,1749142533.517 [DAT](INFO): DAT read: Rx Time:16:55:32.4017 

2025-06-05T16:55:33.517Z,1749142533.517 [DAT](INFO): Rx dataTimestamp_ set to:1749142533.517139
2025-06-05T16:55:33.529Z,1749142533.529 [DAT](INFO): DAT read: Range 10 to 50 :     4.8 m (trip time 3.2 ms) speed -0.3

2025-06-05T16:55:33.532Z,1749142533.532 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-06-05T16:55:33.533Z,1749142533.533 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=43.870403
2025-06-05T16:55:33.559Z,1749142533.559 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:55:33.686Z,1749142533.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.505762 s,
      deltaX: 0.300000 m,
      approachRate: 0.593165 m/s,
      rangeRepo size: 4

2025-06-05T16:55:33.767Z,1749142533.767 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=44.104465
2025-06-05T16:55:34.019Z,1749142534.019 [DAT](INFO): DAT read: Rx Time:16:55:32.9018 

2025-06-05T16:55:34.020Z,1749142534.020 [DAT](INFO): Rx dataTimestamp_ set to:1749142534.019412
2025-06-05T16:55:34.021Z,1749142534.021 [DAT](INFO): DAT read: Range 10 to 50 :     5.0 m (trip time 3.3 ms) speed -0.4

2025-06-05T16:55:34.021Z,1749142534.021 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-06-05T16:55:34.022Z,1749142534.022 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=44.359764
2025-06-05T16:55:34.160Z,1749142534.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.502273 s,
      deltaX: 0.200000 m,
      approachRate: 0.398189 m/s,
      rangeRepo size: 4

2025-06-05T16:55:34.272Z,1749142534.272 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=44.609207
2025-06-05T16:55:34.524Z,1749142534.524 [DAT](INFO): DAT read: Rx Time:16:55:33.4019 

2025-06-05T16:55:34.525Z,1749142534.525 [DAT](INFO): Rx dataTimestamp_ set to:1749142534.524587
2025-06-05T16:55:34.527Z,1749142534.527 [DAT](INFO): DAT read: Range 10 to 50 :     5.1 m (trip time 3.4 ms) speed -0.4

2025-06-05T16:55:34.528Z,1749142534.528 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-06-05T16:55:34.530Z,1749142534.530 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=44.866505
2025-06-05T16:55:34.617Z,1749142534.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.505175 s,
      deltaX: 0.100000 m,
      approachRate: 0.197951 m/s,
      rangeRepo size: 4

2025-06-05T16:55:34.775Z,1749142534.775 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=45.112549
2025-06-05T16:55:35.027Z,1749142535.027 [DAT](INFO): DAT read: Rx Time:16:55:33.9019 

2025-06-05T16:55:35.028Z,1749142535.028 [DAT](INFO): Rx dataTimestamp_ set to:1749142535.027499
2025-06-05T16:55:35.030Z,1749142535.030 [DAT](INFO): DAT read: Range 10 to 50 :     5.1 m (trip time 3.4 ms) speed -0.4

2025-06-05T16:55:35.033Z,1749142535.033 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-06-05T16:55:35.034Z,1749142535.034 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=45.371590
2025-06-05T16:55:35.279Z,1749142535.279 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=45.616467
2025-06-05T16:55:35.351Z,1749142535.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:35.353Z,1749142535.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.502912 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:35.532Z,1749142535.532 [DAT](INFO): DAT read: Rx Time:16:55:34.4022 

2025-06-05T16:55:35.533Z,1749142535.533 [DAT](INFO): Rx dataTimestamp_ set to:1749142535.532589
2025-06-05T16:55:35.535Z,1749142535.535 [DAT](INFO): DAT read: Range 10 to 50 :     5.6 m (trip time 3.7 ms) speed -0.4

2025-06-05T16:55:35.536Z,1749142535.536 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-06-05T16:55:35.537Z,1749142535.537 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=45.874554
2025-06-05T16:55:35.701Z,1749142535.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.505090 s,
      deltaX: 0.500000 m,
      approachRate: 0.989923 m/s,
      rangeRepo size: 4

2025-06-05T16:55:35.784Z,1749142535.784 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=46.121460
2025-06-05T16:55:36.035Z,1749142536.035 [DAT](INFO): DAT read: Rx Time:16:55:34.9023 

2025-06-05T16:55:36.036Z,1749142536.036 [DAT](INFO): Rx dataTimestamp_ set to:1749142536.035409
2025-06-05T16:55:36.037Z,1749142536.037 [DAT](INFO): DAT read: Range 10 to 50 :     5.7 m (trip time 3.8 ms) speed -0.4

2025-06-05T16:55:36.037Z,1749142536.037 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-06-05T16:55:36.038Z,1749142536.038 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=46.375778
2025-06-05T16:55:36.196Z,1749142536.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.502820 s,
      deltaX: 0.100000 m,
      approachRate: 0.198878 m/s,
      rangeRepo size: 4

2025-06-05T16:55:36.287Z,1749142536.287 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=46.624493
2025-06-05T16:55:36.541Z,1749142536.541 [DAT](INFO): DAT read: Rx Time:16:55:35.4026 

2025-06-05T16:55:36.541Z,1749142536.541 [DAT](INFO): Rx dataTimestamp_ set to:1749142536.541198
2025-06-05T16:55:36.550Z,1749142536.550 [DAT](INFO): DAT read: Bearing 150.1, -16.2 (Local)

2025-06-05T16:55:36.550Z,1749142536.550 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.1, -16.2 (Local)

2025-06-05T16:55:36.553Z,1749142536.553 [DAT](INFO): DAT read: Range 10 to 50 :     6.2 m (trip time 4.1 ms) speed -0.4

2025-06-05T16:55:36.558Z,1749142536.558 [DAT](INFO): DAT read: 16:55:35.4026 LVL= 12336, 32753, 28658, 31955, AGC= 47, IDX= 511, 0.23, 0.973, 2.217,-0.143, 1.435, PHS=-0.374, 0.829,-1.580, RAW=   0.1,  10.8, CAL= 359.9,  16.2, ROT= 150.1, -16.2

2025-06-05T16:55:36.560Z,1749142536.560 [DAT](INFO): got valid direction response:
 16:55:35.4026 LVL= 12336, 32753, 28658, 31955, AGC= 47, IDX= 511, 0.23, 0.973, 2.217,-0.143, 1.435, PHS=-0.374, 0.829,-1.580, RAW=   0.1,  10.8, CAL= 359.9,  16.2, ROT= 150.1, -16.2

2025-06-05T16:55:36.560Z,1749142536.560 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-06-05T16:55:36.561Z,1749142536.561 [DAT](INFO): direction in FSK: [-0.832476,0.478695,0.278991]
2025-06-05T16:55:36.561Z,1749142536.561 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:36.596Z,1749142536.596 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=46.933140
2025-06-05T16:55:36.687Z,1749142536.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.505789 s,
      deltaX: 0.500000 m,
      approachRate: 0.988555 m/s,
      rangeRepo size: 4

2025-06-05T16:55:36.689Z,1749142536.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.149365 m,
      bearing: 108.752850 deg,
      lat: 36.906280 deg,
      lon: -122.115920 deg,
      deltaT: 4.790054 s,
      deltaX: 1.785307 m,
      approachRate: 0.372711 m/s,
      posRepo size: 4

2025-06-05T16:55:36.792Z,1749142536.792 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.129452
2025-06-05T16:55:37.044Z,1749142537.044 [DAT](INFO): DAT read: Rx Time:16:55:35.ange 10 to 50 :     6.2 m (trip time 4.1 ms) speed -0.4

2025-06-05T16:55:37.045Z,1749142537.045 [DAT](INFO): Rx dataTimestamp_ set to:1749142537.044348
2025-06-05T16:55:37.045Z,1749142537.045 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.382542
2025-06-05T16:55:37.297Z,1749142537.297 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.633801
2025-06-05T16:55:37.446Z,1749142537.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:55:37.549Z,1749142537.549 [DAT](INFO): DAT read: Rx Time:16:55:36.4030 

2025-06-05T16:55:37.550Z,1749142537.550 [DAT](INFO): Rx dataTimestamp_ set to:1749142537.549257
2025-06-05T16:55:37.552Z,1749142537.552 [DAT](INFO): DAT read: Range 10 to 50 :     6.6 m (trip time 4.4 ms) speed -0.4

2025-06-05T16:55:37.553Z,1749142537.553 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-06-05T16:55:37.555Z,1749142537.555 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=47.891254
2025-06-05T16:55:37.800Z,1749142537.800 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=48.137054
2025-06-05T16:55:37.861Z,1749142537.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 1.008059 s,
      deltaX: 0.400000 m,
      approachRate: 0.396802 m/s,
      rangeRepo size: 4

2025-06-05T16:55:38.052Z,1749142538.052 [DAT](INFO): DAT read: Rx Time:16:55:36.9030 

2025-06-05T16:55:38.052Z,1749142538.052 [DAT](INFO): Rx dataTimestamp_ set to:1749142538.051942
2025-06-05T16:55:38.054Z,1749142538.054 [DAT](INFO): DAT read: Bearing 149.8, -11.3 (Local)

2025-06-05T16:55:38.054Z,1749142538.054 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.8, -11.3 (Local)

2025-06-05T16:55:38.056Z,1749142538.056 [DAT](INFO): DAT read: Range 10 to 50 :     6.6 m (trip time 4.4 ms) speed -0.5

2025-06-05T16:55:38.061Z,1749142538.061 [DAT](INFO): DAT read: 16:55:36.9030 LVL= 25584, 32753, 32754, 32755, AGC= 48, IDX= 499, 0.32,-2.543,-1.249, 2.558,-2.181, PHS=-0.274, 0.979,-1.547, RAW=   0.3,   7.7, CAL=   0.2,  11.3, ROT= 149.8, -11.3

2025-06-05T16:55:38.062Z,1749142538.062 [DAT](INFO): got valid direction response:
 16:55:36.9030 LVL= 25584, 32753, 32754, 32755, AGC= 48, IDX= 499, 0.32,-2.543,-1.249, 2.558,-2.181, PHS=-0.274, 0.979,-1.547, RAW=   0.3,   7.7, CAL=   0.2,  11.3, ROT= 149.8, -11.3

2025-06-05T16:55:38.063Z,1749142538.063 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-06-05T16:55:38.065Z,1749142538.065 [DAT](INFO): direction in FSK: [-0.847521,0.493269,0.195946]
2025-06-05T16:55:38.066Z,1749142538.066 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:38.069Z,1749142538.069 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.406551
2025-06-05T16:55:38.303Z,1749142538.303 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.640472
2025-06-05T16:55:38.383Z,1749142538.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.502685 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:38.385Z,1749142538.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.545942 m,
      bearing: 108.441646 deg,
      lat: 36.906280 deg,
      lon: -122.115918 deg,
      deltaT: 1.510744 s,
      deltaX: 0.396576 m,
      approachRate: 0.262504 m/s,
      posRepo size: 4

2025-06-05T16:55:38.559Z,1749142538.559 [DAT](INFO): DAT read: Rx Time:16:55:37.4032 

2025-06-05T16:55:38.559Z,1749142538.559 [DAT](INFO): Rx dataTimestamp_ set to:1749142538.558851
2025-06-05T16:55:38.560Z,1749142538.560 [DAT](INFO): DAT read: Bearing 155.5,  -9.5 (Local)

2025-06-05T16:55:38.561Z,1749142538.561 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.5,  -9.5 (Local)

2025-06-05T16:55:38.563Z,1749142538.563 [DAT](INFO): DAT read: Range 10 to 50 :     6.9 m (trip time 4.6 ms) speed -0.4

2025-06-05T16:55:38.569Z,1749142538.569 [DAT](INFO): DAT read: 16:55:37.4032 LVL= 21264, 32113, 32754, 32755, AGC= 47, IDX= 501, 0.07, 3.075,-1.751, 2.191,-2.745, PHS=-0.376, 1.041,-1.350, RAW= 353.9,   6.6, CAL= 354.5,   9.5, ROT= 155.5,  -9.5

2025-06-05T16:55:38.570Z,1749142538.570 [DAT](INFO): got valid direction response:
 16:55:37.4032 LVL= 21264, 32113, 32754, 32755, AGC= 47, IDX= 501, 0.07, 3.075,-1.751, 2.191,-2.745, PHS=-0.376, 1.041,-1.350, RAW= 353.9,   6.6, CAL= 354.5,   9.5, ROT= 155.5,  -9.5

2025-06-05T16:55:38.570Z,1749142538.570 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-06-05T16:55:38.571Z,1749142538.571 [DAT](INFO): direction in FSK: [-0.897482,0.409006,0.165048]
2025-06-05T16:55:38.572Z,1749142538.572 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:38.575Z,1749142538.575 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=48.912571
2025-06-05T16:55:38.676Z,1749142538.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.506909 s,
      deltaX: 0.300000 m,
      approachRate: 0.591823 m/s,
      rangeRepo size: 4

2025-06-05T16:55:38.687Z,1749142538.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.843485 m,
      bearing: 113.829615 deg,
      lat: 36.906276 deg,
      lon: -122.115914 deg,
      deltaT: 0.506909 s,
      deltaX: 0.297543 m,
      approachRate: 0.586975 m/s,
      posRepo size: 4

2025-06-05T16:55:38.807Z,1749142538.807 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=49.144451
2025-06-05T16:55:39.060Z,1749142539.060 [DAT](INFO): DAT read: Rx Time:16:55:37.9033 

2025-06-05T16:55:39.060Z,1749142539.060 [DAT](INFO): Rx dataTimestamp_ set to:1749142539.059904
2025-06-05T16:55:39.061Z,1749142539.061 [DAT](INFO): DAT read: Bearing 158.8,  -5.6 (Local)

2025-06-05T16:55:39.062Z,1749142539.062 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.8,  -5.6 (Local)

2025-06-05T16:55:39.065Z,1749142539.065 [DAT](INFO): DAT read: Range 10 to 50 :     7.1 m (trip time 4.7 ms) speed -0.4

2025-06-05T16:55:39.070Z,1749142539.070 [DAT](INFO): DAT read: 16:55:37.9033 LVL= 19440, 28977, 29074, 32755, AGC= 49, IDX= 502,-0.06, 0.390, 1.931,-0.340, 0.842, PHS=-0.364, 1.136,-1.185, RAW= 350.4,   4.1, CAL= 351.2,   5.6, ROT= 158.8,  -5.6

2025-06-05T16:55:39.071Z,1749142539.071 [DAT](INFO): got valid direction response:
 16:55:37.9033 LVL= 19440, 28977, 29074, 32755, AGC= 49, IDX= 502,-0.06, 0.390, 1.931,-0.340, 0.842, PHS=-0.364, 1.136,-1.185, RAW= 350.4,   4.1, CAL= 351.2,   5.6, ROT= 158.8,  -5.6

2025-06-05T16:55:39.071Z,1749142539.071 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-05T16:55:39.072Z,1749142539.072 [DAT](INFO): direction in FSK: [-0.927874,0.359899,0.097583]
2025-06-05T16:55:39.073Z,1749142539.073 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:39.082Z,1749142539.082 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=49.418533
2025-06-05T16:55:39.159Z,1749142539.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.501053 s,
      deltaX: 0.200000 m,
      approachRate: 0.399159 m/s,
      rangeRepo size: 4

2025-06-05T16:55:39.161Z,1749142539.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.041824 m,
      bearing: 116.497038 deg,
      lat: 36.906271 deg,
      lon: -122.115914 deg,
      deltaT: 0.501053 s,
      deltaX: 0.198339 m,
      approachRate: 0.395845 m/s,
      posRepo size: 4

2025-06-05T16:55:39.313Z,1749142539.313 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=49.650261
2025-06-05T16:55:39.568Z,1749142539.568 [DAT](INFO): DAT read: Rx Time:16:55:38.4036 

2025-06-05T16:55:39.568Z,1749142539.568 [DAT](INFO): Rx dataTimestamp_ set to:1749142539.568096
2025-06-05T16:55:39.570Z,1749142539.570 [DAT](INFO): DAT read: Bearing 151.4,   1.8 (Local)

2025-06-05T16:55:39.570Z,1749142539.570 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.4,   1.8 (Local)

2025-06-05T16:55:39.572Z,1749142539.572 [DAT](INFO): DAT read: Range 10 to 50 :     7.5 m (trip time 5.0 ms) speed -0.4

2025-06-05T16:55:39.577Z,1749142539.577 [DAT](INFO): DAT read: 16:55:38.4036 LVL= 16368, 21873, 24226, 28499, AGC= 49, IDX= 505,-0.19, 0.667, 1.940,-0.352, 0.776, PHS=-0.021, 1.211,-1.131, RAW= 358.3,  -0.6, CAL= 358.6,  -1.8, ROT= 151.4,   1.8

2025-06-05T16:55:39.578Z,1749142539.578 [DAT](INFO): got valid direction response:
 16:55:38.4036 LVL= 16368, 21873, 24226, 28499, AGC= 49, IDX= 505,-0.19, 0.667, 1.940,-0.352, 0.776, PHS=-0.021, 1.211,-1.131, RAW= 358.3,  -0.6, CAL= 358.6,  -1.8, ROT= 151.4,   1.8

2025-06-05T16:55:39.578Z,1749142539.578 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-06-05T16:55:39.579Z,1749142539.579 [DAT](INFO): direction in FSK: [-0.877550,0.478456,-0.031411]
2025-06-05T16:55:39.579Z,1749142539.579 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:39.585Z,1749142539.585 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=49.922676
2025-06-05T16:55:39.680Z,1749142539.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.508192 s,
      deltaX: 0.400000 m,
      approachRate: 0.787104 m/s,
      rangeRepo size: 4

2025-06-05T16:55:39.692Z,1749142539.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.438547 m,
      bearing: 108.117423 deg,
      lat: 36.906271 deg,
      lon: -122.115914 deg,
      deltaT: 0.508192 s,
      deltaX: 0.396722 m,
      approachRate: 0.780654 m/s,
      posRepo size: 4

2025-06-05T16:55:39.820Z,1749142539.820 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=50.156975
2025-06-05T16:55:40.072Z,1749142540.072 [DAT](INFO): DAT read: Rx Time:16:55:38.9037 

2025-06-05T16:55:40.073Z,1749142540.073 [DAT](INFO): Rx dataTimestamp_ set to:1749142540.072366
2025-06-05T16:55:40.074Z,1749142540.074 [DAT](INFO): DAT read: Bearing 144.6,   4.7 (Local)

2025-06-05T16:55:40.074Z,1749142540.074 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.6,   4.7 (Local)

2025-06-05T16:55:40.076Z,1749142540.076 [DAT](INFO): DAT read: Range 10 to 50 :     7.7 m (trip time 5.1 ms) speed -0.7

2025-06-05T16:55:40.083Z,1749142540.083 [DAT](INFO): DAT read: 16:55:38.9037 LVL= 18736, 18033, 22818, 25747, AGC= 50, IDX= 506,-0.26,-1.874,-0.837, 3.110,-2.006, PHS= 0.221, 1.216,-1.170, RAW=   5.5,  -2.6, CAL=   5.4,  -4.7, ROT= 144.6,   4.7

2025-06-05T16:55:40.084Z,1749142540.084 [DAT](INFO): got valid direction response:
 16:55:38.9037 LVL= 18736, 18033, 22818, 25747, AGC= 50, IDX= 506,-0.26,-1.874,-0.837, 3.110,-2.006, PHS= 0.221, 1.216,-1.170, RAW=   5.5,  -2.6, CAL=   5.4,  -4.7, ROT= 144.6,   4.7

2025-06-05T16:55:40.084Z,1749142540.084 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-06-05T16:55:40.085Z,1749142540.085 [DAT](INFO): direction in FSK: [-0.812387,0.577333,-0.081939]
2025-06-05T16:55:40.086Z,1749142540.086 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:40.089Z,1749142540.089 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=50.426624
2025-06-05T16:55:40.324Z,1749142540.324 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=50.660851
2025-06-05T16:55:40.384Z,1749142540.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.504270 s,
      deltaX: 0.200000 m,
      approachRate: 0.396613 m/s,
      rangeRepo size: 4

2025-06-05T16:55:40.393Z,1749142540.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.636938 m,
      bearing: 101.007488 deg,
      lat: 36.906276 deg,
      lon: -122.115913 deg,
      deltaT: 0.504270 s,
      deltaX: 0.198391 m,
      approachRate: 0.393423 m/s,
      posRepo size: 4

2025-06-05T16:55:40.396Z,1749142540.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 7.70 m. Rolling out.
2025-06-05T16:55:40.397Z,1749142540.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-06-05T16:55:40.456Z,1749142540.456 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T16:55:40.457Z,1749142540.457 [DockingStepper](INFO): Standby mode.
2025-06-05T16:55:40.517Z,1749142540.517 [DockingStepper](INFO): Commanding positive:54402
2025-06-05T16:55:40.577Z,1749142540.577 [DAT](INFO): DAT read: Rx Time:16:55:39.4040 

2025-06-05T16:55:40.578Z,1749142540.578 [DAT](INFO): Rx dataTimestamp_ set to:1749142540.577229
2025-06-05T16:55:40.580Z,1749142540.580 [DAT](INFO): DAT read: Bearing 148.0,   2.6 (Local)

2025-06-05T16:55:40.581Z,1749142540.581 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.0,   2.6 (Local)

2025-06-05T16:55:40.585Z,1749142540.585 [DAT](INFO): DAT read: Range 10 to 50 :     8.1 m (trip time 5.4 ms) speed -0.5

2025-06-05T16:55:40.589Z,1749142540.589 [DAT](INFO): DAT read: 16:55:39.4040 LVL= 19408, 20097, 21058, 24755, AGC= 53, IDX= 509,-0.46,-0.934, 0.258,-2.131,-0.929, PHS= 0.083, 1.233,-1.205, RAW=   1.9,  -1.1, CAL=   2.0,  -2.6, ROT= 148.0,   2.6

2025-06-05T16:55:40.591Z,1749142540.591 [DAT](INFO): got valid direction response:
 16:55:39.4040 LVL= 19408, 20097, 21058, 24755, AGC= 53, IDX= 509,-0.46,-0.934, 0.258,-2.131,-0.929, PHS= 0.083, 1.233,-1.205, RAW=   1.9,  -1.1, CAL=   2.0,  -2.6, ROT= 148.0,   2.6

2025-06-05T16:55:40.592Z,1749142540.592 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-06-05T16:55:40.593Z,1749142540.593 [DAT](INFO): direction in FSK: [-0.847175,0.529374,-0.045363]
2025-06-05T16:55:40.593Z,1749142540.593 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:40.596Z,1749142540.596 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=50.933609
2025-06-05T16:55:40.822Z,1749142540.822 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-06-05T16:55:40.823Z,1749142540.823 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-05T16:55:40.823Z,1749142540.823 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-06-05T16:55:40.824Z,1749142540.824 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 7.700000 m (mode  5.000000 count ).
2025-06-05T16:55:40.824Z,1749142540.824 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-06-05T16:55:40.824Z,1749142540.824 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-06-05T16:55:40.825Z,1749142540.825 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-06-05T16:55:40.825Z,1749142540.825 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-05T16:55:40.825Z,1749142540.825 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-06-05T16:55:40.827Z,1749142540.827 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=51.164558
2025-06-05T16:55:40.835Z,1749142540.835 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  7.700000 m (mode  5.000000 count ).
2025-06-05T16:55:40.835Z,1749142540.835 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-06-05T16:55:40.835Z,1749142540.835 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-06-05T16:55:40.858Z,1749142540.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.504863 s,
      deltaX: 0.400001 m,
      approachRate: 0.792295 m/s,
      rangeRepo size: 4

2025-06-05T16:55:40.860Z,1749142540.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.033663 m,
      bearing: 104.672098 deg,
      lat: 36.906279 deg,
      lon: -122.115907 deg,
      deltaT: 0.504863 s,
      deltaX: 0.396725 m,
      approachRate: 0.785807 m/s,
      posRepo size: 4

2025-06-05T16:55:40.861Z,1749142540.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.03 m.
2025-06-05T16:55:41.080Z,1749142541.080 [DAT](INFO): DAT read: Rx Time:16:55:39.9041 

2025-06-05T16:55:41.081Z,1749142541.081 [DAT](INFO): Rx dataTimestamp_ set to:1749142541.080375
2025-06-05T16:55:41.083Z,1749142541.083 [DAT](INFO): DAT read: Bearing 154.8,  -0.1 (Local)

2025-06-05T16:55:41.084Z,1749142541.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.8,  -0.1 (Local)

2025-06-05T16:55:41.087Z,1749142541.087 [DAT](INFO): DAT read: Range 10 to 50 :     8.3 m (trip time 5.5 ms) speed -0.2

2025-06-05T16:55:41.093Z,1749142541.093 [DAT](INFO): DAT read: 16:55:39.9041 LVL= 21808, 24337, 24050, 31219, AGC= 52, IDX= 509, 0.21,-0.492, 0.975,-1.428,-0.246, PHS=-0.158, 1.268,-1.185, RAW= 354.6,   0.7, CAL= 355.2,   0.1, ROT= 154.8,  -0.1

2025-06-05T16:55:41.094Z,1749142541.094 [DAT](INFO): got valid direction response:
 16:55:39.9041 LVL= 21808, 24337, 24050, 31219, AGC= 52, IDX= 509, 0.21,-0.492, 0.975,-1.428,-0.246, PHS=-0.158, 1.268,-1.185, RAW= 354.6,   0.7, CAL= 355.2,   0.1, ROT= 154.8,  -0.1

2025-06-05T16:55:41.094Z,1749142541.094 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-06-05T16:55:41.095Z,1749142541.095 [DAT](INFO): direction in FSK: [-0.904826,0.425779,0.001745]
2025-06-05T16:55:41.095Z,1749142541.095 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:41.105Z,1749142541.105 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=51.441917
2025-06-05T16:55:41.272Z,1749142541.272 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-06-05T16:55:41.272Z,1749142541.272 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-06-05T16:55:41.272Z,1749142541.272 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-06-05T16:55:41.272Z,1749142541.272 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-06-05T16:55:41.302Z,1749142541.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.503146 s,
      deltaX: 0.200000 m,
      approachRate: 0.397499 m/s,
      rangeRepo size: 4

2025-06-05T16:55:41.305Z,1749142541.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.232067 m,
      bearing: 111.734296 deg,
      lat: 36.906279 deg,
      lon: -122.115905 deg,
      deltaT: 0.503146 s,
      deltaX: 0.198404 m,
      approachRate: 0.394328 m/s,
      posRepo size: 4

2025-06-05T16:55:41.305Z,1749142541.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.23 m.
2025-06-05T16:55:41.331Z,1749142541.331 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=51.668495
2025-06-05T16:55:41.584Z,1749142541.584 [DAT](INFO): DAT read: Rx Time:16:55:40.4042 

2025-06-05T16:55:41.585Z,1749142541.585 [DAT](INFO): Rx dataTimestamp_ set to:1749142541.584251
2025-06-05T16:55:41.586Z,1749142541.586 [DAT](INFO): DAT read: Bearing 163.1,   2.4 (Local)

2025-06-05T16:55:41.586Z,1749142541.586 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.1,   2.4 (Local)

2025-06-05T16:55:41.588Z,1749142541.588 [DAT](INFO): DAT read: Range 10 to 50 :     8.6 m (trip time 5.7 ms) speed -0.5

2025-06-05T16:55:41.593Z,1749142541.593 [DAT](INFO): DAT read: 16:55:40.4042 LVL= 29248, 26513, 30354, 32755, AGC= 51, IDX= 511, 0.07,-1.756,-0.008,-2.336,-1.372, PHS=-0.297, 1.411,-0.967, RAW= 345.9,  -1.4, CAL= 346.9,  -2.4, ROT= 163.1,   2.4

2025-06-05T16:55:41.595Z,1749142541.595 [DAT](INFO): got valid direction response:
 16:55:40.4042 LVL= 29248, 26513, 30354, 32755, AGC= 51, IDX= 511, 0.07,-1.756,-0.008,-2.336,-1.372, PHS=-0.297, 1.411,-0.967, RAW= 345.9,  -1.4, CAL= 346.9,  -2.4, ROT= 163.1,   2.4

2025-06-05T16:55:41.595Z,1749142541.595 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-06-05T16:55:41.596Z,1749142541.596 [DAT](INFO): direction in FSK: [-0.955974,0.290447,-0.041876]
2025-06-05T16:55:41.596Z,1749142541.596 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:41.601Z,1749142541.601 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=51.938656
2025-06-05T16:55:41.835Z,1749142541.835 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=52.172600
2025-06-05T16:55:41.879Z,1749142541.879 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-06-05T16:55:41.879Z,1749142541.879 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-06-05T16:55:41.879Z,1749142541.879 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-06-05T16:55:41.880Z,1749142541.880 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-06-05T16:55:41.896Z,1749142541.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.503876 s,
      deltaX: 0.300000 m,
      approachRate: 0.595385 m/s,
      rangeRepo size: 4

2025-06-05T16:55:41.903Z,1749142541.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.529615 m,
      bearing: 119.668887 deg,
      lat: 36.906279 deg,
      lon: -122.115905 deg,
      deltaT: 0.503876 s,
      deltaX: 0.297548 m,
      approachRate: 0.590519 m/s,
      posRepo size: 4

2025-06-05T16:55:41.904Z,1749142541.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.53 m.
2025-06-05T16:55:42.087Z,1749142542.087 [DAT](INFO): DAT read: Rx Time:16:55:40.9042 

2025-06-05T16:55:42.088Z,1749142542.088 [DAT](INFO): Rx dataTimestamp_ set to:1749142542.087362
2025-06-05T16:55:42.089Z,1749142542.089 [DAT](INFO): DAT read: Range 10 to 50 :     8.6 m (trip time 5.7 ms) speed -0.4

2025-06-05T16:55:42.089Z,1749142542.089 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-06-05T16:55:42.090Z,1749142542.090 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=52.427746
2025-06-05T16:55:42.333Z,1749142542.333 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-06-05T16:55:42.333Z,1749142542.333 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-05T16:55:42.333Z,1749142542.333 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-06-05T16:55:42.333Z,1749142542.333 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-05T16:55:42.339Z,1749142542.339 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=52.676487
2025-06-05T16:55:42.340Z,1749142542.340 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-06-05T16:55:42.340Z,1749142542.340 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-05T16:55:42.340Z,1749142542.340 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-06-05T16:55:42.340Z,1749142542.340 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-05T16:55:42.349Z,1749142542.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.503111 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:42.355Z,1749142542.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.53 m.
2025-06-05T16:55:42.592Z,1749142542.592 [DAT](INFO): DAT read: Rx Time:16:55:41.4046 

2025-06-05T16:55:42.593Z,1749142542.593 [DAT](INFO): Rx dataTimestamp_ set to:1749142542.592605
2025-06-05T16:55:42.595Z,1749142542.595 [DAT](INFO): DAT read: Bearing 173.2,   1.9 (Local)

2025-06-05T16:55:42.596Z,1749142542.596 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.2,   1.9 (Local)

2025-06-05T16:55:42.603Z,1749142542.603 [DAT](INFO): DAT read: Range 10 to 50 :     9.2 m (trip time 6.1 ms) speed -0.4

2025-06-05T16:55:42.619Z,1749142542.619 [DAT](INFO): DAT read: 16:55:41.4046 LVL= 12272, 13425, 10386, 19635, AGC= 55, IDX=   3,-0.36,-2.325,-0.438,-2.439,-1.725, PHS=-0.513, 1.334,-0.717, RAW= 335.2,  -1.1, CAL= 336.8,  -1.9, ROT= 173.2,   1.9

2025-06-05T16:55:42.620Z,1749142542.620 [DAT](INFO): got valid direction response:
 16:55:41.4046 LVL= 12272, 13425, 10386, 19635, AGC= 55, IDX=   3,-0.36,-2.325,-0.438,-2.439,-1.725, PHS=-0.513, 1.334,-0.717, RAW= 335.2,  -1.1, CAL= 336.8,  -1.9, ROT= 173.2,   1.9

2025-06-05T16:55:42.621Z,1749142542.621 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-06-05T16:55:42.624Z,1749142542.624 [DAT](INFO): direction in FSK: [-0.992420,0.118339,-0.033155]
2025-06-05T16:55:42.624Z,1749142542.624 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:42.650Z,1749142542.650 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=52.986954
2025-06-05T16:55:42.766Z,1749142542.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.505243 s,
      deltaX: 0.599999 m,
      approachRate: 1.187546 m/s,
      rangeRepo size: 4

2025-06-05T16:55:42.772Z,1749142542.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.124704 m,
      bearing: 129.913267 deg,
      lat: 36.906279 deg,
      lon: -122.115905 deg,
      deltaT: 1.008354 s,
      deltaX: 0.595089 m,
      approachRate: 0.590159 m/s,
      posRepo size: 4

2025-06-05T16:55:42.773Z,1749142542.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.12 m.
2025-06-05T16:55:42.844Z,1749142542.844 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=53.181057
2025-06-05T16:55:43.096Z,1749142543.096 [DAT](INFO): DAT read: Rx Time:16:55:41.9047 

2025-06-05T16:55:43.096Z,1749142543.096 [DAT](INFO): Rx dataTimestamp_ set to:1749142543.095887
2025-06-05T16:55:43.099Z,1749142543.099 [DAT](INFO): DAT read: Bearing 175.1,   0.6 (Local)

2025-06-05T16:55:43.099Z,1749142543.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.1,   0.6 (Local)

2025-06-05T16:55:43.101Z,1749142543.101 [DAT](INFO): DAT read: Range 10 to 50 :     9.3 m (trip time 6.2 ms) speed -0.4

2025-06-05T16:55:43.105Z,1749142543.105 [DAT](INFO): DAT read: 16:55:41.9047 LVL= 27120, 24481, 30290, 32755, AGC= 55, IDX= 499, 0.35,-1.324, 0.592,-1.362,-0.658, PHS=-0.578, 1.298,-0.70733.3,  -0.1, CAL= 334.9,  -0.6, ROT= 175.1,   0.6

2025-06-05T16:55:43.107Z,1749142543.107 [DAT](INFO): unknown deviceResponse_: 16:55:41.9047 LVL= 27120, 24481, 30290, 32755, AGC= 55, IDX= 499, 0.35,-1.324, 0.592,-1.362,-0.658, PHS=-0.578, 1.298,-0.70733.3,  -0.1, CAL= 334.9,  -0.6, ROT= 175.1,   0.6

2025-06-05T16:55:43.108Z,1749142543.108 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-06-05T16:55:43.108Z,1749142543.108 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=53.445728
2025-06-05T16:55:43.128Z,1749142543.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.503282 s,
      deltaX: 0.100000 m,
      approachRate: 0.198697 m/s,
      rangeRepo size: 4

2025-06-05T16:55:43.128Z,1749142543.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.12 m.
2025-06-05T16:55:43.347Z,1749142543.347 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=53.684704
2025-06-05T16:55:43.590Z,1749142543.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.12 m.
2025-06-05T16:55:43.600Z,1749142543.600 [DAT](INFO): DAT read: Rx Time:16:55:42.4050 

2025-06-05T16:55:43.601Z,1749142543.601 [DAT](INFO): Rx dataTimestamp_ set to:1749142543.600258
2025-06-05T16:55:43.602Z,1749142543.602 [DAT](INFO): DAT read: Bearing 176.5,  -1.0 (Local)

2025-06-05T16:55:43.603Z,1749142543.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.5,  -1.0 (Local)

2025-06-05T16:55:43.605Z,1749142543.605 [DAT](INFO): DAT read: Range 10 to 50 :     9.8 m (trip time 6.5 ms) speed -0.4

2025-06-05T16:55:43.618Z,1749142543.618 [DAT](INFO): DAT read: 16:55:42.4050 LVL= 29360, 21153, 30786, 32755, AGC= 55, IDX= 502, 0.23, 0.020, 1.916, 0.043, 0.733, PHS=-0.625, 1.229,-0.693, RAW= 331.8,   1.0, CAL= 333.5,   1.0, ROT= 176.5,  -1.0

2025-06-05T16:55:43.619Z,1749142543.619 [DAT](INFO): got valid direction response:
 16:55:42.4050 LVL= 29360, 21153, 30786, 32755, AGC= 55, IDX= 502, 0.23, 0.020, 1.916, 0.043, 0.733, PHS=-0.625, 1.229,-0.693, RAW= 331.8,   1.0, CAL= 333.5,   1.0, ROT= 176.5,  -1.0

2025-06-05T16:55:43.620Z,1749142543.620 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-06-05T16:55:43.621Z,1749142543.621 [DAT](INFO): direction in FSK: [-0.997983,0.061039,0.017452]
2025-06-05T16:55:43.621Z,1749142543.621 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:43.629Z,1749142543.629 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=53.966595
2025-06-05T16:55:43.851Z,1749142543.851 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=54.188541
2025-06-05T16:55:43.925Z,1749142543.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.504371 s,
      deltaX: 0.500000 m,
      approachRate: 0.991334 m/s,
      rangeRepo size: 4

2025-06-05T16:55:43.927Z,1749142543.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.719844 m,
      bearing: 133.396854 deg,
      lat: 36.906272 deg,
      lon: -122.115910 deg,
      deltaT: 1.007653 s,
      deltaX: 0.595140 m,
      approachRate: 0.590620 m/s,
      posRepo size: 4

2025-06-05T16:55:43.928Z,1749142543.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.72 m.
2025-06-05T16:55:44.104Z,1749142544.104 [DAT](INFO): DAT read: Rx Time:16:55:42.9050 

2025-06-05T16:55:44.104Z,1749142544.104 [DAT](INFO): Rx dataTimestamp_ set to:1749142544.104093
2025-06-05T16:55:44.106Z,1749142544.106 [DAT](INFO): DAT read: Bearing 178.0,  -5.1 (Local)

2025-06-05T16:55:44.106Z,1749142544.106 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.0,  -5.1 (Local)

2025-06-05T16:55:44.108Z,1749142544.108 [DAT](INFO): DAT read: Range 10 to 50 :     9.8 m (trip time 6.5 ms) speed -0.3

2025-06-05T16:55:44.113Z,1749142544.113 [DAT](INFO): DAT read: 16:55:42.9050 LVL= 30352, 26929, 32754, 32755, AGC= 55, IDX= 503, 0.16,-0.919, 0.882,-0.827,-0.138, PHS=-0.693, 1.067,-0.692, RAW= 330.0,   3.7, CAL= 332.0,   5.1, ROT= 178.0,  -5.1

2025-06-05T16:55:44.115Z,1749142544.115 [DAT](INFO): got valid direction response:
 16:55:42.9050 LVL= 30352, 26929, 32754, 32755, AGC= 55, IDX= 503, 0.16,-0.919, 0.882,-0.827,-0.138, PHS=-0.693, 1.067,-0.692, RAW= 330.0,   3.7, CAL= 332.0,   5.1, ROT= 178.0,  -5.1

2025-06-05T16:55:44.116Z,1749142544.116 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-06-05T16:55:44.117Z,1749142544.117 [DAT](INFO): direction in FSK: [-0.995434,0.034761,0.088894]
2025-06-05T16:55:44.117Z,1749142544.117 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:44.155Z,1749142544.155 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=54.492504
2025-06-05T16:55:44.355Z,1749142544.355 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=54.692513
2025-06-05T16:55:44.467Z,1749142544.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.503835 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:55:44.470Z,1749142544.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.719844 m,
      bearing: 135.065096 deg,
      lat: 36.906261 deg,
      lon: -122.115918 deg,
      deltaT: 0.503835 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-06-05T16:55:44.479Z,1749142544.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.72 m.
2025-06-05T16:55:44.610Z,1749142544.610 [DAT](INFO): DAT read: Rx Time:16:55:43.4052 

2025-06-05T16:55:44.611Z,1749142544.611 [DAT](INFO): Rx dataTimestamp_ set to:1749142544.610621
2025-06-05T16:55:44.613Z,1749142544.613 [DAT](INFO): DAT read: Bearing 176.5,  -4.3 (Local)

2025-06-05T16:55:44.614Z,1749142544.614 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.5,  -4.3 (Local)

2025-06-05T16:55:44.618Z,1749142544.618 [DAT](INFO): DAT read: Range 10 to 50 :    10.1 m (trip time 6.7 ms) speed -0.5

2025-06-05T16:55:44.628Z,1749142544.628 [DAT](INFO): DAT read: 16:55:43.4052 LVL= 27120, 25041, 31666, 32755, AGC= 56, IDX= 506, 0.16, 0.630, 2.338, 0.666, 1.345, PHS=-0.627, 1.041,-0.681, RAW= 331.6,   3.2, CAL= 333.5,   4.3, ROT= 176.5,  -4.3

2025-06-05T16:55:44.632Z,1749142544.632 [DAT](INFO): got valid direction response:
 16:55:43.4052 LVL= 27120, 25041, 31666, 32755, AGC= 56, IDX= 506, 0.16, 0.630, 2.338, 0.666, 1.345, PHS=-0.627, 1.041,-0.681, RAW= 331.6,   3.2, CAL= 333.5,   4.3, ROT= 176.5,  -4.3

2025-06-05T16:55:44.632Z,1749142544.632 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-06-05T16:55:44.642Z,1749142544.642 [DAT](INFO): direction in FSK: [-0.995325,0.060877,0.074979]
2025-06-05T16:55:44.643Z,1749142544.643 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:44.646Z,1749142544.646 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:55:44.646Z,1749142544.646 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:55:44.655Z,1749142544.655 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:44.859Z,1749142544.859 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:44.859Z,1749142544.859 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:44.859Z,1749142544.859 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:44.908Z,1749142544.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.506528 s,
      deltaX: 0.300000 m,
      approachRate: 0.592268 m/s,
      rangeRepo size: 4

2025-06-05T16:55:44.916Z,1749142544.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.017203 m,
      bearing: 133.522902 deg,
      lat: 36.906261 deg,
      lon: -122.115921 deg,
      deltaT: 0.506528 s,
      deltaX: 0.297359 m,
      approachRate: 0.587054 m/s,
      posRepo size: 4

2025-06-05T16:55:44.916Z,1749142544.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.02 m.
2025-06-05T16:55:45.112Z,1749142545.112 [DAT](INFO): DAT read: Rx Time:16:55:43.9054 

2025-06-05T16:55:45.112Z,1749142545.112 [DAT](INFO): Rx dataTimestamp_ set to:1749142545.111859
2025-06-05T16:55:45.114Z,1749142545.114 [DAT](INFO): DAT read: Bearing 174.0,  -4.4 (Local)

2025-06-05T16:55:45.115Z,1749142545.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.0,  -4.4 (Local)

2025-06-05T16:55:45.117Z,1749142545.117 [DAT](INFO): DAT read: Range 10 to 50 :    10.4 m (trip time 6.9 ms) speed -0.5

2025-06-05T16:55:45.129Z,1749142545.129 [DAT](INFO): DAT read: 16:55:43.9054 LVL= 22896, 21985, 25058, 32755, AGC= 56, IDX= 507, 0.24,-0.321, 1.281,-0.374, 0.328, PHS=-0.560, 1.000,-0.705, RAW= 334.4,   3.3, CAL= 336.0,   4.4, ROT= 174.0,  -4.4

2025-06-05T16:55:45.130Z,1749142545.130 [DAT](INFO): got valid direction response:
 16:55:43.9054 LVL= 22896, 21985, 25058, 32755, AGC= 56, IDX= 507, 0.24,-0.321, 1.281,-0.374, 0.328, PHS=-0.560, 1.000,-0.705, RAW= 334.4,   3.3, CAL= 336.0,   4.4, ROT= 174.0,  -4.4

2025-06-05T16:55:45.130Z,1749142545.130 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:55:45.133Z,1749142545.133 [DAT](INFO): direction in FSK: [-0.991591,0.104220,0.076719]
2025-06-05T16:55:45.133Z,1749142545.133 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:45.137Z,1749142545.137 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:45.139Z,1749142545.139 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:45.343Z,1749142545.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.501238 s,
      deltaX: 0.299999 m,
      approachRate: 0.598517 m/s,
      rangeRepo size: 4

2025-06-05T16:55:45.345Z,1749142545.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.314743 m,
      bearing: 130.846388 deg,
      lat: 36.906261 deg,
      lon: -122.115921 deg,
      deltaT: 0.501238 s,
      deltaX: 0.297540 m,
      approachRate: 0.593610 m/s,
      posRepo size: 4

2025-06-05T16:55:45.345Z,1749142545.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.31 m.
2025-06-05T16:55:45.363Z,1749142545.363 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:45.363Z,1749142545.363 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:45.364Z,1749142545.364 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:45.617Z,1749142545.617 [DAT](INFO): DAT read: Rx Time:16:55:44.4056 

2025-06-05T16:55:45.617Z,1749142545.617 [DAT](INFO): Rx dataTimestamp_ set to:1749142545.616815
2025-06-05T16:55:45.618Z,1749142545.618 [DAT](INFO): DAT read: Bearing 171.5,   0.8 (Local)

2025-06-05T16:55:45.619Z,1749142545.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.5,   0.8 (Local)

2025-06-05T16:55:45.621Z,1749142545.621 [DAT](INFO): DAT read: Range 10 to 50 :    10.7 m (trip time 7.1 ms) speed -0.5

2025-06-05T16:55:45.625Z,1749142545.625 [DAT](INFO): DAT read: 16:55:44.4056 LVL= 19600, 19441, 21426, 32755, AGC= 57, IDX= 509, 0.32,-0.183, 1.548,-0.353, 0.373, PHS=-0.468, 1.222,-0.729, RAW= 337.1,  -0.3, CAL= 338.5,  -0.8, ROT= 171.5,   0.8

2025-06-05T16:55:45.626Z,1749142545.626 [DAT](INFO): got valid direction response:
 16:55:44.4056 LVL= 19600, 19441, 21426, 32755, AGC= 57, IDX= 509, 0.32,-0.183, 1.548,-0.353, 0.373, PHS=-0.468, 1.222,-0.729, RAW= 337.1,  -0.3, CAL= 338.5,  -0.8, ROT= 171.5,   0.8

2025-06-05T16:55:45.627Z,1749142545.627 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:55:45.628Z,1749142545.628 [DAT](INFO): direction in FSK: [-0.988919,0.147795,-0.013962]
2025-06-05T16:55:45.628Z,1749142545.628 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:45.635Z,1749142545.635 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:45.636Z,1749142545.636 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:45.704Z,1749142545.704 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060508570155,35.0, +10.3,   0.0,149
2025-06-05T16:55:45.784Z,1749142545.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.504956 s,
      deltaX: 0.300000 m,
      approachRate: 0.594112 m/s,
      rangeRepo size: 4

2025-06-05T16:55:45.791Z,1749142545.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.612284 m,
      bearing: 128.064528 deg,
      lat: 36.906261 deg,
      lon: -122.115921 deg,
      deltaT: 0.504956 s,
      deltaX: 0.297541 m,
      approachRate: 0.589241 m/s,
      posRepo size: 4

2025-06-05T16:55:45.791Z,1749142545.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.61 m.
2025-06-05T16:55:45.868Z,1749142545.868 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:45.868Z,1749142545.868 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:45.869Z,1749142545.869 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:46.120Z,1749142546.120 [DAT](INFO): DAT read: Rx Time:16:55:44.9057 

2025-06-05T16:55:46.120Z,1749142546.120 [DAT](INFO): Rx dataTimestamp_ set to:1749142546.119947
2025-06-05T16:55:46.121Z,1749142546.121 [DAT](INFO): DAT read: Bearing 171.7,   2.8 (Local)

2025-06-05T16:55:46.122Z,1749142546.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.7,   2.8 (Local)

2025-06-05T16:55:46.125Z,1749142546.125 [DAT](INFO): DAT read: Range 10 to 50 :    10.8 m (trip time 7.2 ms) speed -0.5

2025-06-05T16:55:46.129Z,1749142546.129 [DAT](INFO): DAT read: 16:55:44.9057 LVL= 22800, 16689, 24626, 32755, AGC= 55, IDX= 511,-0.41,-2.651,-0.908,-2.808,-2.133, PHS=-0.430, 1.271,-0.678, RAW= 336.7,  -1.8, CAL= 338.3,  -2.8, ROT= 171.7,   2.8

2025-06-05T16:55:46.132Z,1749142546.132 [DAT](INFO): got valid direction response:
 16:55:44.9057 LVL= 22800, 16689, 24626, 32755, AGC= 55, IDX= 511,-0.41,-2.651,-0.908,-2.808,-2.133, PHS=-0.430, 1.271,-0.678, RAW= 336.7,  -1.8, CAL= 338.3,  -2.8, ROT= 171.7,   2.8

2025-06-05T16:55:46.132Z,1749142546.132 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:55:46.133Z,1749142546.133 [DAT](INFO): direction in FSK: [-0.988344,0.144184,-0.048850]
2025-06-05T16:55:46.133Z,1749142546.133 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:46.136Z,1749142546.136 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:46.137Z,1749142546.137 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:46.169Z,1749142546.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.503132 s,
      deltaX: 0.100000 m,
      approachRate: 0.198756 m/s,
      rangeRepo size: 4

2025-06-05T16:55:46.179Z,1749142546.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.711100 m,
      bearing: 127.764789 deg,
      lat: 36.906264 deg,
      lon: -122.115917 deg,
      deltaT: 0.503132 s,
      deltaX: 0.098816 m,
      approachRate: 0.196402 m/s,
      posRepo size: 4

2025-06-05T16:55:46.180Z,1749142546.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-05T16:55:46.372Z,1749142546.372 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:46.373Z,1749142546.373 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:46.375Z,1749142546.375 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:46.617Z,1749142546.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-05T16:55:46.623Z,1749142546.623 [DAT](INFO): DAT read: Rx Time:16:55:45.4060 

2025-06-05T16:55:46.624Z,1749142546.624 [DAT](INFO): Rx dataTimestamp_ set to:1749142546.623495
2025-06-05T16:55:46.625Z,1749142546.625 [DAT](INFO): DAT read: Range 10 to 50 :    11.3 m (trip time 7.5 ms) speed -0.4

2025-06-05T16:55:46.626Z,1749142546.626 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:55:46.627Z,1749142546.627 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:46.627Z,1749142546.627 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:46.876Z,1749142546.876 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:46.876Z,1749142546.876 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:46.877Z,1749142546.877 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:47.124Z,1749142547.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.503548 s,
      deltaX: 0.500000 m,
      approachRate: 0.992954 m/s,
      rangeRepo size: 4

2025-06-05T16:55:47.124Z,1749142547.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-05T16:55:47.128Z,1749142547.128 [DAT](INFO): DAT read: Rx Time:16:55:45.9062 

2025-06-05T16:55:47.128Z,1749142547.128 [DAT](INFO): Rx dataTimestamp_ set to:1749142547.128039
2025-06-05T16:55:47.130Z,1749142547.130 [DAT](INFO): DAT read: Bearing 171.3,   2.0 (Local)

2025-06-05T16:55:47.131Z,1749142547.131 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.3,   2.0 (Local)

2025-06-05T16:55:47.134Z,1749142547.134 [DAT](INFO): DAT read: Range 10 to 50 :    11.6 m (trip time 7.7 ms) speed -0.4

2025-06-05T16:55:47.138Z,1749142547.138 [DAT](INFO): DAT read: 16:55:45.9062 LVL= 15136, 13553, 12514, 22675, AGC= 62, IDX=   3, 0.15,-1.750,-0.099,-1.913,-1.243, PHS=-0.420, 1.191,-0.673, RAW= 337.2,  -1.1, CAL= 338.7,  -2.0, ROT= 171.3,   2.0

2025-06-05T16:55:47.139Z,1749142547.139 [DAT](INFO): got valid direction response:
 16:55:45.9062 LVL= 15136, 13553, 12514, 22675, AGC= 62, IDX=   3, 0.15,-1.750,-0.099,-1.913,-1.243, PHS=-0.420, 1.191,-0.673, RAW= 337.2,  -1.1, CAL= 338.7,  -2.0, ROT= 171.3,   2.0

2025-06-05T16:55:47.140Z,1749142547.140 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:55:47.141Z,1749142547.141 [DAT](INFO): direction in FSK: [-0.987892,0.151169,-0.034899]
2025-06-05T16:55:47.141Z,1749142547.141 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:47.144Z,1749142547.144 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:47.145Z,1749142547.145 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:47.380Z,1749142547.380 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:47.380Z,1749142547.380 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:47.381Z,1749142547.381 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:47.636Z,1749142547.636 [DAT](INFO): DAT read: Rx Time:16:55:46.4065 

2025-06-05T16:55:47.637Z,1749142547.637 [DAT](INFO): Rx dataTimestamp_ set to:1749142547.636566
2025-06-05T16:55:47.639Z,1749142547.639 [DAT](INFO): DAT read: Bearing 173.0,   2.4 (Local)

2025-06-05T16:55:47.639Z,1749142547.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.0,   2.4 (Local)

2025-06-05T16:55:47.641Z,1749142547.641 [DAT](INFO): DAT read: Range 10 to 50 :    12.0 m (trip time 8.0 ms) speed -0.7

2025-06-05T16:55:47.646Z,1749142547.646 [DAT](INFO): DAT read: 16:55:46.4065 LVL= 25312, 16289, 24562, 32755, AGC= 61, IDX= 502, 0.49,-0.112, 1.634,-0.218, 0.433, PHS=-0.457, 1.248,-0.654, RAW= 335.4,  -1.5, CAL= 337.0,  -2.4, ROT= 173.0,   2.4

2025-06-05T16:55:47.651Z,1749142547.651 [DAT](INFO): got valid direction response:
 16:55:46.4065 LVL= 25312, 16289, 24562, 32755, AGC= 61, IDX= 502, 0.49,-0.112, 1.634,-0.218, 0.433, PHS=-0.457, 1.248,-0.654, RAW= 335.4,  -1.5, CAL= 337.0,  -2.4, ROT= 173.0,   2.4

2025-06-05T16:55:47.651Z,1749142547.651 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:55:47.652Z,1749142547.652 [DAT](INFO): direction in FSK: [-0.991676,0.121762,-0.041876]
2025-06-05T16:55:47.653Z,1749142547.653 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:47.676Z,1749142547.676 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:47.676Z,1749142547.676 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:47.687Z,1749142547.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 1.013071 s,
      deltaX: 0.700000 m,
      approachRate: 0.690968 m/s,
      rangeRepo size: 4

2025-06-05T16:55:47.690Z,1749142547.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.504269 m,
      bearing: 126.943599 deg,
      lat: 36.906268 deg,
      lon: -122.115913 deg,
      deltaT: 1.008092 s,
      deltaX: 0.793169 m,
      approachRate: 0.786802 m/s,
      posRepo size: 4

2025-06-05T16:55:47.695Z,1749142547.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.50 m.
2025-06-05T16:55:47.883Z,1749142547.883 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:47.884Z,1749142547.884 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:47.884Z,1749142547.884 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:48.136Z,1749142548.136 [DAT](INFO): DAT read: Rx Time:16:55:46.9066 

2025-06-05T16:55:48.136Z,1749142548.136 [DAT](INFO): Rx dataTimestamp_ set to:1749142548.135945
2025-06-05T16:55:48.137Z,1749142548.137 [DAT](INFO): DAT read: Bearing 174.0,   2.4 (Local)

2025-06-05T16:55:48.138Z,1749142548.138 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.0,   2.4 (Local)

2025-06-05T16:55:48.140Z,1749142548.140 [DAT](INFO): DAT read: Range 10 to 50 :    12.2 m (trip time 8.1 ms) speed -0.6

2025-06-05T16:55:48.144Z,1749142548.144 [DAT](INFO): DAT read: 16:55:46.9066 LVL= 24400, 20273, 19954, 32755, AGC= 59, IDX= 504,-0.10,-2.325,-0.636,-2.386,-1.781, PHS=-0.456-0.608, RAW= 334., CAL= 336.0,  -2.4, ROT= 174.0,   2.4

2025-06-05T16:55:48.145Z,1749142548.145 [DAT](INFO): unknown deviceResponse_: 16:55:46.9066 LVL= 24400, 20273, 19954, 32755, AGC= 59, IDX= 504,-0.10,-2.325,-0.636,-2.386,-1.781, PHS=-0.456-0.608, RAW= 334., CAL= 336.0,  -2.4, ROT= 174.0,   2.4

2025-06-05T16:55:48.145Z,1749142548.145 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:55:48.146Z,1749142548.146 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:48.147Z,1749142548.147 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:48.324Z,1749142548.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.499379 s,
      deltaX: 0.200000 m,
      approachRate: 0.400497 m/s,
      rangeRepo size: 4

2025-06-05T16:55:48.363Z,1749142548.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.099224 m,
      bearing: 128.624566 deg,
      lat: 36.906270 deg,
      lon: -122.115913 deg,
      deltaT: 1.007906 s,
      deltaX: 0.594955 m,
      approachRate: 0.590289 m/s,
      posRepo size: 4

2025-06-05T16:55:48.363Z,1749142548.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.10 m.
2025-06-05T16:55:48.387Z,1749142548.387 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:48.387Z,1749142548.387 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:48.388Z,1749142548.388 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:48.640Z,1749142548.640 [DAT](INFO): DAT read: Rx Time:16:55:47.4070 

2025-06-05T16:55:48.640Z,1749142548.640 [DAT](INFO): Rx dataTimestamp_ set to:1749142548.639889
2025-06-05T16:55:48.641Z,1749142548.641 [DAT](INFO): DAT read: Bearing 174.8,   3.0 (Local)

2025-06-05T16:55:48.642Z,1749142548.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.8,   3.0 (Local)

2025-06-05T16:55:48.645Z,1749142548.645 [DAT](INFO): DAT read: Range 10 to 50 :    12.6 m (trip time 8.4 ms) speed -0.6

2025-06-05T16:55:48.650Z,1749142548.650 [DAT](INFO): DAT read: 16:55:47.4070 LVL= 24656, 20401, 23794, 32755, AGC= 59, IDX= 507, 0.34,-0.399, 1.392,-0.432, 0.173, PHS=-0.483, 1.267,-0.607, RAW= 333.4,  -2.0, CAL= 335.2,  -3.0, ROT= 174.8,   3.0

2025-06-05T16:55:48.651Z,1749142548.651 [DAT](INFO): got valid direction response:
 16:55:47.4070 LVL= 24656, 20401, 23794, 32755, AGC= 59, IDX= 507, 0.34,-0.399, 1.392,-0.432, 0.173, PHS=-0.483, 1.267,-0.607, RAW= 333.4,  -2.0, CAL= 335.2,  -3.0, ROT= 174.8,   3.0

2025-06-05T16:55:48.652Z,1749142548.652 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:55:48.653Z,1749142548.653 [DAT](INFO): direction in FSK: [-0.994520,0.090508,-0.052336]
2025-06-05T16:55:48.653Z,1749142548.653 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:48.656Z,1749142548.656 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:48.657Z,1749142548.657 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:48.811Z,1749142548.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.503944 s,
      deltaX: 0.400001 m,
      approachRate: 0.793740 m/s,
      rangeRepo size: 4

2025-06-05T16:55:48.813Z,1749142548.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.495920 m,
      bearing: 129.970487 deg,
      lat: 36.906270 deg,
      lon: -122.115913 deg,
      deltaT: 0.503944 s,
      deltaX: 0.396696 m,
      approachRate: 0.787183 m/s,
      posRepo size: 4

2025-06-05T16:55:48.814Z,1749142548.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-06-05T16:55:48.891Z,1749142548.891 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:48.892Z,1749142548.892 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:48.892Z,1749142548.892 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:49.136Z,1749142549.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-06-05T16:55:49.147Z,1749142549.147 [DAT](INFO): DAT read: Rx Time:16:55:47.9072 

2025-06-05T16:55:49.148Z,1749142549.148 [DAT](INFO): Rx dataTimestamp_ set to:1749142549.147140
2025-06-05T16:55:49.150Z,1749142549.150 [DAT](INFO): DAT read: Bearing 176.5,   2.7 (Local)

2025-06-05T16:55:49.150Z,1749142549.150 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.5,   2.7 (Local)

2025-06-05T16:55:49.152Z,1749142549.152 [DAT](INFO): DAT read: Range 10 to 50 :    12.9 m (trip time 8.6 ms) speed -0.6

2025-06-05T16:55:49.157Z,1749142549.157 [DAT](INFO): DAT read: 16:55:47.9072 LVL= 26064, 19569, 22450, 32755, AGC= 57, IDX= 509, 0.03, 2.535,-1.956, 2.566, 3.135, PHS=-0.512, 1.239,-0.572, RAW= 331.7,  -1.8, CAL= 333.5,  -2.7, ROT= 176.5,   2.7

2025-06-05T16:55:49.158Z,1749142549.158 [DAT](INFO): got valid direction response:
 16:55:47.9072 LVL= 26064, 19569, 22450, 32755, AGC= 57, IDX= 509, 0.03, 2.535,-1.956, 2.566, 3.135, PHS=-0.512, 1.239,-0.572, RAW= 331.7,  -1.8, CAL= 333.5,  -2.7, ROT= 176.5,   2.7

2025-06-05T16:55:49.159Z,1749142549.159 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:55:49.160Z,1749142549.160 [DAT](INFO): direction in FSK: [-0.997027,0.060981,-0.047106]
2025-06-05T16:55:49.160Z,1749142549.160 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:49.172Z,1749142549.172 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:49.172Z,1749142549.172 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:49.395Z,1749142549.395 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:49.395Z,1749142549.395 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:49.396Z,1749142549.396 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:49.584Z,1749142549.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.507251 s,
      deltaX: 0.299999 m,
      approachRate: 0.591422 m/s,
      rangeRepo size: 4

2025-06-05T16:55:49.586Z,1749142549.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.793439 m,
      bearing: 131.413298 deg,
      lat: 36.906270 deg,
      lon: -122.115913 deg,
      deltaT: 0.507251 s,
      deltaX: 0.297519 m,
      approachRate: 0.586532 m/s,
      posRepo size: 4

2025-06-05T16:55:49.587Z,1749142549.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.79 m.
2025-06-05T16:55:49.649Z,1749142549.649 [DAT](INFO): DAT read: Rx Time:16:55:48.4075 

2025-06-05T16:55:49.650Z,1749142549.650 [DAT](INFO): Rx dataTimestamp_ set to:1749142549.649725
2025-06-05T16:55:49.652Z,1749142549.652 [DAT](INFO): DAT read: Bearing 174.6,   6.0 (Local)

2025-06-05T16:55:49.653Z,1749142549.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.6,   6.0 (Local)

2025-06-05T16:55:49.656Z,1749142549.656 [DAT](INFO): DAT read: Range 10 to 50 :    13.4 m (trip time 8.9 ms) speed -0.7

2025-06-05T16:55:49.663Z,1749142549.663 [DAT](INFO): DAT read: 16:55:48.4075 LVL= 26480, 20721, 23922, 32755, AGC= 57, IDX= 512,-0.24, 1.674,-2.619, 1.627, 2.224, PHS=-0.463, 1.487,-0.601, RAW= 333.4,  -4.2, CAL= 335.4,  -6.0, ROT= 174.6,   6.0

2025-06-05T16:55:49.665Z,1749142549.665 [DAT](INFO): got valid direction response:
 16:55:48.4075 LVL= 26480, 20721, 23922, 32755, AGC= 57, IDX= 512,-0.24, 1.674,-2.619, 1.627, 2.224, PHS=-0.463, 1.487,-0.601, RAW= 333.4,  -4.2, CAL= 335.4,  -6.0, ROT= 174.6,   6.0

2025-06-05T16:55:49.666Z,1749142549.666 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:55:49.668Z,1749142549.668 [DAT](INFO): direction in FSK: [-0.990108,0.093593,-0.104528]
2025-06-05T16:55:49.668Z,1749142549.668 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:49.672Z,1749142549.672 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:49.672Z,1749142549.672 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:49.899Z,1749142549.899 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:49.900Z,1749142549.900 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:49.900Z,1749142549.900 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:49.942Z,1749142549.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.502585 s,
      deltaX: 0.500000 m,
      approachRate: 0.994857 m/s,
      rangeRepo size: 4

2025-06-05T16:55:49.949Z,1749142549.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.289362 m,
      bearing: 129.276331 deg,
      lat: 36.906271 deg,
      lon: -122.115912 deg,
      deltaT: 0.502585 s,
      deltaX: 0.495923 m,
      approachRate: 0.986745 m/s,
      posRepo size: 4

2025-06-05T16:55:49.958Z,1749142549.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.29 m.
2025-06-05T16:55:50.152Z,1749142550.152 [DAT](INFO): DAT read: Rx Time:16:55:48.9077 

2025-06-05T16:55:50.152Z,1749142550.152 [DAT](INFO): Rx dataTimestamp_ set to:1749142550.152030
2025-06-05T16:55:50.154Z,1749142550.154 [DAT](INFO): DAT read: Bearing 176.6,   4.1 (Local)

2025-06-05T16:55:50.154Z,1749142550.154 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.6,   4.1 (Local)

2025-06-05T16:55:50.156Z,1749142550.156 [DAT](INFO): DAT read: Range 10 to 50 :    13.7 m (trip time 9.1 ms) speed -0.5

2025-06-05T16:55:50.161Z,1749142550.161 [DAT](INFO): DAT read: 16:55:48.9077 LVL= 29456, 24785, 25586, 32755, AGC= 59, IDX= 513, 0.29, 2.391,-2.575, 2.444, 2.831, PHS=-0.352, 0.924,-0.389, RAW= 331.4,  -2.9, CAL= 333.4,  -4.1, ROT= 176.6,   4.1

2025-06-05T16:55:50.162Z,1749142550.162 [DAT](INFO): got valid direction response:
 16:55:48.9077 LVL= 29456, 24785, 25586, 32755, AGC= 59, IDX= 513, 0.29, 2.391,-2.575, 2.444, 2.831, PHS=-0.352, 0.924,-0.389, RAW= 331.4,  -2.9, CAL= 333.4,  -4.1, ROT= 176.6,   4.1

2025-06-05T16:55:50.162Z,1749142550.162 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:55:50.163Z,1749142550.163 [DAT](INFO): direction in FSK: [-0.995685,0.059155,-0.071497]
2025-06-05T16:55:50.164Z,1749142550.164 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:50.181Z,1749142550.181 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:50.182Z,1749142550.182 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:50.403Z,1749142550.403 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:50.403Z,1749142550.403 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:50.403Z,1749142550.403 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:50.421Z,1749142550.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.502305 s,
      deltaX: 0.300000 m,
      approachRate: 0.597247 m/s,
      rangeRepo size: 4

2025-06-05T16:55:50.432Z,1749142550.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.586885 m,
      bearing: 131.347645 deg,
      lat: 36.906270 deg,
      lon: -122.115913 deg,
      deltaT: 0.502305 s,
      deltaX: 0.297523 m,
      approachRate: 0.592316 m/s,
      posRepo size: 4

2025-06-05T16:55:50.434Z,1749142550.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.59 m.
2025-06-05T16:55:50.656Z,1749142550.656 [DAT](INFO): DAT read: Rx Time:16:55:49.4081 

2025-06-05T16:55:50.656Z,1749142550.656 [DAT](INFO): Rx dataTimestamp_ set to:1749142550.656129
2025-06-05T16:55:50.658Z,1749142550.658 [DAT](INFO): DAT read: Bearing 178.2,   3.1 (Local)

2025-06-05T16:55:50.658Z,1749142550.658 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.2,   3.1 (Local)

2025-06-05T16:55:50.660Z,1749142550.660 [DAT](INFO): DAT read: Range 10 to 50 :    14.3 m (trip time 9.5 ms) speed -0.8

2025-06-05T16:55:50.666Z,1749142550.666 [DAT](INFO): DAT read: 16:55:49.4081 LVL= 20032, 19505, 19682, 32755, AGC= 62, IDX=   5, 0.00,-0.262, 1.579,-0.162, 0.367, PHS=-0.541, 1.259,-0.532, RAW= 329.8,  -2.1, CAL= 331.8,  -3.1, ROT= 178.2,   3.1

2025-06-05T16:55:50.667Z,1749142550.667 [DAT](INFO): got valid direction response:
 16:55:49.4081 LVL= 20032, 19505, 19682, 32755, AGC= 62, IDX=   5, 0.00,-0.262, 1.579,-0.162, 0.367, PHS=-0.541, 1.259,-0.532, RAW= 329.8,  -2.1, CAL= 331.8,  -3.1, ROT= 178.2,   3.1

2025-06-05T16:55:50.667Z,1749142550.667 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:55:50.668Z,1749142550.668 [DAT](INFO): direction in FSK: [-0.998044,0.031365,-0.054079]
2025-06-05T16:55:50.669Z,1749142550.669 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:50.680Z,1749142550.680 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:50.681Z,1749142550.681 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:50.875Z,1749142550.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.504099 s,
      deltaX: 0.600000 m,
      approachRate: 1.190243 m/s,
      rangeRepo size: 4

2025-06-05T16:55:50.877Z,1749142550.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.181932 m,
      bearing: 132.809582 deg,
      lat: 36.906270 deg,
      lon: -122.115914 deg,
      deltaT: 0.504099 s,
      deltaX: 0.595047 m,
      approachRate: 1.180417 m/s,
      posRepo size: 4

2025-06-05T16:55:50.887Z,1749142550.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.18 m.
2025-06-05T16:55:50.907Z,1749142550.907 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:50.910Z,1749142550.910 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:50.911Z,1749142550.911 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:51.160Z,1749142551.160 [DAT](INFO): DAT read: Rx Time:16:55:49.9082 

2025-06-05T16:55:51.160Z,1749142551.160 [DAT](INFO): Rx dataTimestamp_ set to:1749142551.160194
2025-06-05T16:55:51.162Z,1749142551.162 [DAT](INFO): DAT read: Bearing 178.5,   2.7 (Local)

2025-06-05T16:55:51.162Z,1749142551.162 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.5,   2.7 (Local)

2025-06-05T16:55:51.166Z,1749142551.166 [DAT](INFO): DAT read: Range 10 to 50 :    14.4 m (trip time 9.6 ms) speed -0.6

2025-06-05T16:55:51.183Z,1749142551.183 [DAT](INFO): DAT read: 16:55:49.9082 LVL= 27808, 23825, 24130, 32755, AGC= 58, IDX= 487,-0.29,-2.600,-0.746,-2.490,-1.954, PHS=-0.558, 1.255,-0.539, RAW= 329.5,  -1.8, CAL= 331.5,  -2.7, ROT= 178.5,   2.7

2025-06-05T16:55:51.188Z,1749142551.188 [DAT](INFO): got valid direction response:
 16:55:49.9082 LVL= 27808, 23825, 24130, 32755, AGC= 58, IDX= 487,-0.29,-2.600,-0.746,-2.490,-1.954, PHS=-0.558, 1.255,-0.539, RAW= 329.5,  -1.8, CAL= 331.5,  -2.7, ROT= 178.5,   2.7

2025-06-05T16:55:51.189Z,1749142551.189 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:55:51.190Z,1749142551.190 [DAT](INFO): direction in FSK: [-0.998548,0.026148,-0.047106]
2025-06-05T16:55:51.222Z,1749142551.222 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:51.226Z,1749142551.226 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:51.238Z,1749142551.238 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:51.335Z,1749142551.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.504065 s,
      deltaX: 0.099999 m,
      approachRate: 0.198386 m/s,
      rangeRepo size: 4

2025-06-05T16:55:51.337Z,1749142551.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.281141 m,
      bearing: 133.040057 deg,
      lat: 36.906269 deg,
      lon: -122.115914 deg,
      deltaT: 0.504065 s,
      deltaX: 0.099209 m,
      approachRate: 0.196818 m/s,
      posRepo size: 4

2025-06-05T16:55:51.338Z,1749142551.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.28 m.
2025-06-05T16:55:51.413Z,1749142551.413 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:51.414Z,1749142551.414 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:51.417Z,1749142551.417 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:51.664Z,1749142551.664 [DAT](INFO): DAT read: Rx Time:16:55:50.4085 

2025-06-05T16:55:51.665Z,1749142551.665 [DAT](INFO): Rx dataTimestamp_ set to:1749142551.664726
2025-06-05T16:55:51.667Z,1749142551.667 [DAT](INFO): DAT read: Bearing 179.2,   2.6 (Local)

2025-06-05T16:55:51.667Z,1749142551.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.2,   2.6 (Local)

2025-06-05T16:55:51.669Z,1749142551.669 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed -0.5

2025-06-05T16:55:51.673Z,1749142551.673 [DAT](INFO): DAT read: 16:55:50.4085 LVL= 28752, 28433, 25458, 32755, AGC= 58, IDX= 506, 0.26, 0.456, 2.315, 0.593, 1.114, PHS=-0.571, 1.247,-0.524, RAW= 328.7,  -1.7, CAL= 330.8,  -2.6, ROT= 179.2,   2.6

2025-06-05T16:55:51.687Z,1749142551.687 [DAT](INFO): got valid direction response:
 16:55:50.4085 LVL= 28752, 28433, 25458, 32755, AGC= 58, IDX= 506, 0.26, 0.456, 2.315, 0.593, 1.114, PHS=-0.571, 1.247,-0.524, RAW= 328.7,  -1.7, CAL= 330.8,  -2.6, ROT= 179.2,   2.6

2025-06-05T16:55:51.687Z,1749142551.687 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:55:51.688Z,1749142551.688 [DAT](INFO): direction in FSK: [-0.998873,0.013948,-0.045363]
2025-06-05T16:55:51.688Z,1749142551.688 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:51.692Z,1749142551.692 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:51.692Z,1749142551.692 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:51.871Z,1749142551.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504532 s,
      deltaX: 0.600000 m,
      approachRate: 1.189222 m/s,
      rangeRepo size: 4

2025-06-05T16:55:51.873Z,1749142551.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.876189 m,
      bearing: 133.712616 deg,
      lat: 36.906267 deg,
      lon: -122.115914 deg,
      deltaT: 0.504532 s,
      deltaX: 0.595048 m,
      approachRate: 1.179406 m/s,
      posRepo size: 4

2025-06-05T16:55:51.874Z,1749142551.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.88 m.
2025-06-05T16:55:51.918Z,1749142551.918 [DAT](INFO): Reached modem response timeout
2025-06-05T16:55:51.918Z,1749142551.918 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:55:51.918Z,1749142551.918 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T16:55:52.167Z,1749142552.167 [DAT](INFO): DAT read: user:2487>

2025-06-05T16:55:52.168Z,1749142552.168 [DAT](INFO): DAT read: Command 'sbl' not found

2025-06-05T16:55:52.169Z,1749142552.169 [DAT](INFO): unknown deviceResponse_: Command 'sbl' not found

2025-06-05T16:55:52.169Z,1749142552.169 [DAT](INFO): DAT read: Error

2025-06-05T16:55:52.169Z,1749142552.169 [DAT](INFO): unknown deviceResponse_: Error

2025-06-05T16:55:52.170Z,1749142552.170 [DAT](INFO): DAT read: user:2488>

2025-06-05T16:55:52.170Z,1749142552.170 [DAT](INFO): DAT read: Tx time:16:55:51.3078

2025-06-05T16:55:52.171Z,1749142552.171 [DAT](INFO): Ping request sent.
2025-06-05T16:55:52.171Z,1749142552.171 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:55:52.171Z,1749142552.171 [DAT](INFO): publishing transmit ping time
2025-06-05T16:55:52.172Z,1749142552.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-06-05T16:55:52.266Z,1749142552.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.88 m.
2025-06-05T16:55:52.419Z,1749142552.419 [DAT](INFO): DAT read: TxSync time:16:55:51.3070

2025-06-05T16:55:52.420Z,1749142552.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249303
2025-06-05T16:55:52.636Z,1749142552.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.88 m.
2025-06-05T16:55:52.673Z,1749142552.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501993
2025-06-05T16:55:52.923Z,1749142552.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752302
2025-06-05T16:55:53.011Z,1749142553.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.88 m.
2025-06-05T16:55:53.175Z,1749142553.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004641
2025-06-05T16:55:53.429Z,1749142553.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257926
2025-06-05T16:55:53.503Z,1749142553.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.88 m.
2025-06-05T16:55:53.679Z,1749142553.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508541
2025-06-05T16:55:53.889Z,1749142553.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.88 m.
2025-06-05T16:55:53.932Z,1749142553.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761514
2025-06-05T16:55:54.183Z,1749142554.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012312
2025-06-05T16:55:54.226Z,1749142554.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.88 m.
2025-06-05T16:55:54.444Z,1749142554.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273033
2025-06-05T16:55:54.688Z,1749142554.688 [DAT](INFO): DAT read: Rx Time:16:55:53.4586 

2025-06-05T16:55:54.688Z,1749142554.688 [DAT](INFO): Rx dataTimestamp_ set to:1749142554.687964
2025-06-05T16:55:54.690Z,1749142554.690 [DAT](INFO): DAT read: Bearing 181.0,   2.6 (Local)

2025-06-05T16:55:54.690Z,1749142554.690 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.0,   2.6 (Local)

2025-06-05T16:55:54.692Z,1749142554.692 [DAT](INFO): DAT read: Range 10 to 50 :    16.4 m (trip time 10.9 ms) speed -0.5

2025-06-05T16:55:54.697Z,1749142554.697 [DAT](INFO): DAT read: 16:55:53.4586 LVL= 30416, 25649, 24114, 32755, AGC= 63, IDX= 219,-0.29, 3.011,-1.381,-3.068,-2.581, PHS=-0.603, 1.248,-0.490, RAW= 326.9,  -1.7, CAL= 329.0,  -2.6, ROT= 181.0,   2.6

2025-06-05T16:55:54.699Z,1749142554.699 [DAT](INFO): got valid direction response:
 16:55:53.4586 LVL= 30416, 25649, 24114, 32755, AGC= 63, IDX= 219,-0.29, 3.011,-1.381,-3.068,-2.581, PHS=-0.603, 1.248,-0.490, RAW= 326.9,  -1.7, CAL= 329.0,  -2.6, ROT= 181.0,   2.6

2025-06-05T16:55:54.699Z,1749142554.699 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:55:54.700Z,1749142554.700 [DAT](INFO): direction in FSK: [-0.998818,-0.017434,-0.045363]
2025-06-05T16:55:54.700Z,1749142554.700 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:54.705Z,1749142554.705 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.533818
2025-06-05T16:55:54.851Z,1749142554.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 3.023238 s,
      deltaX: 1.400000 m,
      approachRate: 0.463080 m/s,
      rangeRepo size: 4

2025-06-05T16:55:54.853Z,1749142554.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.264782 m,
      bearing: 135.403000 deg,
      lat: 36.906267 deg,
      lon: -122.115915 deg,
      deltaT: 3.023238 s,
      deltaX: 1.388593 m,
      approachRate: 0.459306 m/s,
      posRepo size: 4

2025-06-05T16:55:54.854Z,1749142554.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.26 m.
2025-06-05T16:55:54.939Z,1749142554.939 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.768550
2025-06-05T16:55:55.192Z,1749142555.192 [DAT](INFO): DAT read: Rx Time:16:55:53.9587 

2025-06-05T16:55:55.192Z,1749142555.192 [DAT](INFO): Rx dataTimestamp_ set to:1749142555.192172
2025-06-05T16:55:55.194Z,1749142555.194 [DAT](INFO): DAT read: Bearing 182.3,   1.9 (Local)

2025-06-05T16:55:55.194Z,1749142555.194 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.3,   1.9 (Local)

2025-06-05T16:55:55.196Z,1749142555.196 [DAT](INFO): DAT read: Range 10 to 50 :    16.5 m (trip time 11.0 ms) speed -0.7

2025-06-05T16:55:55.202Z,1749142555.202 [DAT](INFO): DAT read: 16:55:53.9587 LVL= 32752, 32753, 28978, 32755, AGC= 62, IDX= 508, 0.27,-2.349,-0.457,-2.096,-1.626, PHS=-0.635, 1.216,-0.473, RAW= 325.5,  -1.2, CAL= 327.7,  -1.9, ROT= 182.3,   1.9

2025-06-05T16:55:55.203Z,1749142555.203 [DAT](INFO): got valid direction response:
 16:55:53.9587 LVL= 32752, 32753, 28978, 32755, AGC= 62, IDX= 508, 0.27,-2.349,-0.457,-2.096,-1.626, PHS=-0.635, 1.216,-0.473, RAW= 325.5,  -1.2, CAL= 327.7,  -1.9, ROT= 182.3,   1.9

2025-06-05T16:55:55.204Z,1749142555.204 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-05T16:55:55.205Z,1749142555.205 [DAT](INFO): direction in FSK: [-0.998645,-0.040110,-0.033155]
2025-06-05T16:55:55.205Z,1749142555.205 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:55.208Z,1749142555.208 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.037718
2025-06-05T16:55:55.287Z,1749142555.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.504208 s,
      deltaX: 0.100000 m,
      approachRate: 0.198332 m/s,
      rangeRepo size: 4

2025-06-05T16:55:55.289Z,1749142555.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.364033 m,
      bearing: 136.680291 deg,
      lat: 36.906267 deg,
      lon: -122.115916 deg,
      deltaT: 0.504208 s,
      deltaX: 0.099251 m,
      approachRate: 0.196845 m/s,
      posRepo size: 4

2025-06-05T16:55:55.290Z,1749142555.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.36 m.
2025-06-05T16:55:55.447Z,1749142555.447 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.275048
2025-06-05T16:55:55.701Z,1749142555.701 [DAT](INFO): DAT read: Rx Time:16:55:54.4591 

2025-06-05T16:55:55.701Z,1749142555.701 [DAT](INFO): Rx dataTimestamp_ set to:1749142555.701212
2025-06-05T16:55:55.703Z,1749142555.703 [DAT](INFO): DAT read: Bearing 175.3,  -1.6 (Local)

2025-06-05T16:55:55.703Z,1749142555.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.3,  -1.6 (Local)

2025-06-05T16:55:55.705Z,1749142555.705 [DAT](INFO): DAT read: Range 10 to 50 :    17.1 m (trip time 11.4 ms) speed -0.5

2025-06-05T16:55:55.711Z,1749142555.711 [DAT](INFO): DAT read: 16:55:54.4591 LVL= 30288, 32753, 28386, 32755, AGC= 63, IDX= 512,-0.00, 0.238, 2.034, 0.215, 0.915, PHS=-0.589, 1.167,-0.703, RAW= 333.1,   1.4, CAL= 334.7,   1.6, ROT= 175.3,  -1.6

2025-06-05T16:55:55.712Z,1749142555.712 [DAT](INFO): got valid direction response:
 16:55:54.4591 LVL= 30288, 32753, 28386, 32755, AGC= 63, IDX= 512,-0.00, 0.238, 2.034, 0.215, 0.915, PHS=-0.589, 1.167,-0.703, RAW= 333.1,   1.4, CAL= 334.7,   1.6, ROT= 175.3,  -1.6

2025-06-05T16:55:55.712Z,1749142555.712 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-05T16:55:55.713Z,1749142555.713 [DAT](INFO): direction in FSK: [-0.996249,0.081907,0.027922]
2025-06-05T16:55:55.713Z,1749142555.713 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:55.718Z,1749142555.718 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.547032
2025-06-05T16:55:55.804Z,1749142555.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.509040 s,
      deltaX: 0.600000 m,
      approachRate: 1.178690 m/s,
      rangeRepo size: 4

2025-06-05T16:55:55.807Z,1749142555.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.959087 m,
      bearing: 129.877479 deg,
      lat: 36.906270 deg,
      lon: -122.115916 deg,
      deltaT: 0.509040 s,
      deltaX: 0.595055 m,
      approachRate: 1.168974 m/s,
      posRepo size: 4

2025-06-05T16:55:55.807Z,1749142555.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.96 m.
2025-06-05T16:55:55.951Z,1749142555.951 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.780456
2025-06-05T16:55:56.162Z,1749142556.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.96 m.
2025-06-05T16:55:56.204Z,1749142556.204 [DAT](INFO): DAT read: Rx Time:16:55:54.9593 

2025-06-05T16:55:56.204Z,1749142556.204 [DAT](INFO): Rx dataTimestamp_ set to:1749142556.204031
2025-06-05T16:55:56.206Z,1749142556.206 [DAT](INFO): DAT read: Bearing 182.4,   2.5 (Local)

2025-06-05T16:55:56.206Z,1749142556.206 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.4,   2.5 (Local)

2025-06-05T16:55:56.208Z,1749142556.208 [DAT](INFO): DAT read: Range 10 to 50 :    17.4 m (trip time 11.6 ms) speed -0.5

2025-06-05T16:55:56.213Z,1749142556.213 [DAT](INFO): DAT read: 16:55:54.9593 LVL= 18416, 23265, 17810, 31971, AGC= 65, IDX=   2,-0.27, 2.657,-1.727, 2.917,-2.911, PHS=-0.627, 1.231,-0.458, RAW= 325.3,  -1.7, CAL= 327.6,  -2.5, ROT= 182.4,   2.5

2025-06-05T16:55:56.215Z,1749142556.215 [DAT](INFO): got valid direction response:
 16:55:54.9593 LVL= 18416, 23265, 17810, 31971, AGC= 65, IDX=   2,-0.27, 2.657,-1.727, 2.917,-2.911, PHS=-0.627, 1.231,-0.458, RAW= 325.3,  -1.7, CAL= 327.6,  -2.5, ROT= 182.4,   2.5

2025-06-05T16:55:56.216Z,1749142556.216 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-05T16:55:56.217Z,1749142556.217 [DAT](INFO): direction in FSK: [-0.998172,-0.041836,-0.043619]
2025-06-05T16:55:56.217Z,1749142556.217 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:56.225Z,1749142556.225 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.054077
2025-06-05T16:55:56.458Z,1749142556.458 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.286475
2025-06-05T16:55:56.629Z,1749142556.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.502819 s,
      deltaX: 0.299999 m,
      approachRate: 0.596635 m/s,
      rangeRepo size: 4

2025-06-05T16:55:56.640Z,1749142556.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.256685 m,
      bearing: 136.887887 deg,
      lat: 36.906271 deg,
      lon: -122.115923 deg,
      deltaT: 0.502819 s,
      deltaX: 0.297598 m,
      approachRate: 0.591859 m/s,
      posRepo size: 4

2025-06-05T16:55:56.642Z,1749142556.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.26 m.
2025-06-05T16:55:56.710Z,1749142556.710 [DAT](INFO): DAT read: Rx Time:16:55:55.4612 

2025-06-05T16:55:56.716Z,1749142556.716 [DAT](INFO): Rx dataTimestamp_ set to:1749142556.714741
2025-06-05T16:55:56.717Z,1749142556.717 [DAT](INFO): DAT read: Bearing 182.8,   4.6 (Local)

2025-06-05T16:55:56.718Z,1749142556.718 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.8,   4.6 (Local)

2025-06-05T16:55:56.722Z,1749142556.722 [DAT](INFO): DAT read: Range 10 to 50 :    20.1 m (trip time 13.4 ms) speed -0.4

2025-06-05T16:55:56.731Z,1749142556.731 [DAT](INFO): DAT read: 16:55:55.4612 LVL= 30960, 29841, 26258, 32755, AGC= 62, IDX= 500, 0.33,-2.475,-0.562,-2.192,-1.794, PHS=-0.593, 1.279,-0.401, RAW= 324.7,  -3.2, CAL= 327.2,  -4.6, ROT= 182.8,   4.6

2025-06-05T16:55:56.733Z,1749142556.733 [DAT](INFO): got valid direction response:
 16:55:55.4612 LVL= 30960, 29841, 26258, 32755, AGC= 62, IDX= 500, 0.33,-2.475,-0.562,-2.192,-1.794, PHS=-0.593, 1.279,-0.401, RAW= 324.7,  -3.2, CAL= 327.2,  -4.6, ROT= 182.8,   4.6

2025-06-05T16:55:56.733Z,1749142556.733 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-05T16:55:56.763Z,1749142556.763 [DAT](INFO): direction in FSK: [-0.995589,-0.048692,-0.080199]
2025-06-05T16:55:56.764Z,1749142556.764 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:56.795Z,1749142556.795 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.624117
2025-06-05T16:55:56.960Z,1749142556.960 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.788714
2025-06-05T16:55:57.024Z,1749142557.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 20.100000 m,
 deltaT: 0.510710 s,
 deltaX: 2.700001 m,
 approachRate: 5.286759 m/s,
 rangeRepo size: 4
2025-06-05T16:55:57.024Z,1749142557.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.26 m.
2025-06-05T16:55:57.212Z,1749142557.212 [DAT](INFO): DAT read: Rx Time:16:55:55.9613 

2025-06-05T16:55:57.212Z,1749142557.212 [DAT](INFO): Rx dataTimestamp_ set to:1749142557.212047
2025-06-05T16:55:57.214Z,1749142557.214 [DAT](INFO): DAT read: Bearing 182.3,   6.7 (Local)

2025-06-05T16:55:57.215Z,1749142557.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.3,   6.7 (Local)

2025-06-05T16:55:57.217Z,1749142557.217 [DAT](INFO): DAT read: Range 10 to 50 :    20.3 m (trip time 13.5 ms) speed -0.6

2025-06-05T16:55:57.223Z,1749142557.223 [DAT](INFO): DAT read: 16:55:55.9613 LVL= 31792, 28209, 26242, 32755, AGC= 63, IDX= 502, 0.06, 2.388,-1.995, 2.660, 3.015, PHS=-0.539, 1.320,-0.358, RAW= 324.9,  -4.8, CAL= 327.7,  -6.7, ROT= 182.3,   6.7

2025-06-05T16:55:57.224Z,1749142557.224 [DAT](INFO): got valid direction response:
 16:55:55.9613 LVL= 31792, 28209, 26242, 32755, AGC= 63, IDX= 502, 0.06, 2.388,-1.995, 2.660, 3.015, PHS=-0.539, 1.320,-0.358, RAW= 324.9,  -4.8, CAL= 327.7,  -6.7, ROT= 182.3,   6.7

2025-06-05T16:55:57.224Z,1749142557.224 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-05T16:55:57.225Z,1749142557.225 [DAT](INFO): direction in FSK: [-0.992371,-0.039858,-0.116671]
2025-06-05T16:55:57.225Z,1749142557.225 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:57.229Z,1749142557.229 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.057942
2025-06-05T16:55:57.471Z,1749142557.471 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.299524
2025-06-05T16:55:57.512Z,1749142557.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 1.008016 s,
      deltaX: 2.900000 m,
      approachRate: 2.876938 m/s,
      rangeRepo size: 4

2025-06-05T16:55:57.519Z,1749142557.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.132826 m,
      bearing: 136.735080 deg,
      lat: 36.906270 deg,
      lon: -122.115910 deg,
      deltaT: 1.008016 s,
      deltaX: 2.876141 m,
      approachRate: 2.853269 m/s,
      posRepo size: 4

2025-06-05T16:55:57.520Z,1749142557.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.13 m.
2025-06-05T16:55:57.716Z,1749142557.716 [DAT](INFO): DAT read: Rx Time:16:55:56.4602 

2025-06-05T16:55:57.717Z,1749142557.717 [DAT](INFO): Rx dataTimestamp_ set to:1749142557.716501
2025-06-05T16:55:57.718Z,1749142557.718 [DAT](INFO): DAT read: Bearing 182.7,   6.8 (Local)

2025-06-05T16:55:57.718Z,1749142557.718 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.7,   6.8 (Local)

2025-06-05T16:55:57.721Z,1749142557.721 [DAT](INFO): DAT read: Range 10 to 50 :    18.8 m (trip time 12.5 ms) speed -0.5

2025-06-05T16:55:57.725Z,1749142557.725 [DAT](INFO): DAT read: 16:55:56.4602 LVL= 26896, 26513, 25074, 32755, AGC= 63, IDX= 506,-0.21, 1.821,-2.545, 2.111, 2.456, PHS=-0.547, 1.329,-0.349, RAW= 324.5,  -4.9, CAL= 327.3,  -6.8, ROT= 182.7,   6.8

2025-06-05T16:55:57.726Z,1749142557.726 [DAT](INFO): got valid direction response:
 16:55:56.4602 LVL= 26896, 26513, 25074, 32755, AGC= 63, IDX= 506,-0.21, 1.821,-2.545, 2.111, 2.456, PHS=-0.547, 1.329,-0.349, RAW= 324.5,  -4.9, CAL= 327.3,  -6.8, ROT= 182.7,   6.8

2025-06-05T16:55:57.727Z,1749142557.727 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-05T16:55:57.728Z,1749142557.728 [DAT](INFO): direction in FSK: [-0.991863,-0.046775,-0.118404]
2025-06-05T16:55:57.728Z,1749142557.728 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:57.733Z,1749142557.733 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.562563
2025-06-05T16:55:57.934Z,1749142557.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.504454 s,
      deltaX: -1.500000 m,
      approachRate: -2.973512 m/s,
      rangeRepo size: 4

2025-06-05T16:55:57.936Z,1749142557.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.645203 m,
      bearing: 137.130597 deg,
      lat: 36.906270 deg,
      lon: -122.115910 deg,
      deltaT: 0.504454 s,
      deltaX: -1.487623 m,
      approachRate: -2.948977 m/s,
      posRepo size: 4

2025-06-05T16:55:57.937Z,1749142557.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.65 m.
2025-06-05T16:55:57.967Z,1749142557.967 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.796407
2025-06-05T16:55:58.220Z,1749142558.220 [DAT](INFO): DAT read: Rx Time:16:55:56.9604 

2025-06-05T16:55:58.220Z,1749142558.220 [DAT](INFO): Rx dataTimestamp_ set to:1749142558.219916
2025-06-05T16:55:58.221Z,1749142558.221 [DAT](INFO): DAT read: Bearing 182.7,   6.3 (Local)

2025-06-05T16:55:58.222Z,1749142558.222 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.7,   6.3 (Local)

2025-06-05T16:55:58.241Z,1749142558.241 [DAT](INFO): DAT read: Range 10 to 50 :    18.9 m (trip time 12.6 ms) speed :55:56.9604 LVL= 31536, 30193, 24930, 32755, AGC= 62, IDX= 507, 0.34, 2.524,-1.830, 2.815,-3.110, PHS=-0.561, 1.327,-0.361, RAW= 324.5,  -4.6, CAL= 327.3,  -6.3, ROT= 182.7,   6.3

2025-06-05T16:55:58.247Z,1749142558.247 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-06-05T16:55:58.249Z,1749142558.249 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.077787
2025-06-05T16:55:58.329Z,1749142558.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.503415 s,
      deltaX: 0.100000 m,
      approachRate: 0.198644 m/s,
      rangeRepo size: 4

2025-06-05T16:55:58.334Z,1749142558.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.65 m.
2025-06-05T16:55:58.476Z,1749142558.476 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.302533
2025-06-05T16:55:58.717Z,1749142558.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.65 m.
2025-06-05T16:55:58.724Z,1749142558.724 [DAT](INFO): DAT read: Rx Time:16:55:57.4607 

2025-06-05T16:55:58.724Z,1749142558.724 [DAT](INFO): Rx dataTimestamp_ set to:1749142558.723910
2025-06-05T16:55:58.725Z,1749142558.725 [DAT](INFO): DAT read: Bearing 183.3,   5.8 (Local)

2025-06-05T16:55:58.726Z,1749142558.726 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.3,   5.8 (Local)

2025-06-05T16:55:58.728Z,1749142558.728 [DAT](INFO): DAT read: Range 10 to 50 :    19.4 m (trip time 12.9 ms) speed -0.4

2025-06-05T16:55:58.735Z,1749142558.735 [DAT](INFO): DAT read: 16:55:57.4607 LVL= 32352, 29313, 29282, 32755, AGC= 61, IDX= 511, 0.07, 2.786,-1.525, 3.100,-2.816, PHS=-0.594, 1.338,-0.370, RAW= 323.9,  -4.1, CAL= 326.7,  -5.8, ROT= 183.3,   5.8

2025-06-05T16:55:58.736Z,1749142558.736 [DAT](INFO): got valid direction response:
 16:55:57.4607 LVL= 32352, 29313, 29282, 32755, AGC= 61, IDX= 511, 0.07, 2.786,-1.525, 3.100,-2.816, PHS=-0.594, 1.338,-0.370, RAW= 323.9,  -4.1, CAL= 326.7,  -5.8, ROT= 183.3,   5.8

2025-06-05T16:55:58.736Z,1749142558.736 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-05T16:55:58.737Z,1749142558.737 [DAT](INFO): direction in FSK: [-0.993231,-0.057269,-0.101056]
2025-06-05T16:55:58.737Z,1749142558.737 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:58.741Z,1749142558.741 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.570033
2025-06-05T16:55:58.975Z,1749142558.975 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.804561
2025-06-05T16:55:59.133Z,1749142559.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.503994 s,
      deltaX: 0.500000 m,
      approachRate: 0.992075 m/s,
      rangeRepo size: 4

2025-06-05T16:55:59.140Z,1749142559.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.240341 m,
      bearing: 137.954906 deg,
      lat: 36.906270 deg,
      lon: -122.115925 deg,
      deltaT: 1.007409 s,
      deltaX: 0.595139 m,
      approachRate: 0.590762 m/s,
      posRepo size: 4

2025-06-05T16:55:59.140Z,1749142559.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.24 m.
2025-06-05T16:55:59.229Z,1749142559.229 [DAT](INFO): DAT read: Rx Time:16:55:57.9609 

2025-06-05T16:55:59.230Z,1749142559.230 [DAT](INFO): Rx dataTimestamp_ set to:1749142559.229331
2025-06-05T16:55:59.233Z,1749142559.233 [DAT](INFO): DAT read: Bearing 175.7,   4.5 (Local)

2025-06-05T16:55:59.233Z,1749142559.233 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.7,   4.5 (Local)

2025-06-05T16:55:59.238Z,1749142559.238 [DAT](INFO): DAT read: Range 10 to 50 :    19.7 m (trip time 13.1 ms) speed -0.4

2025-06-05T16:55:59.253Z,1749142559.253 [DAT](INFO): DAT read: 16:55:57.9609 LVL= 31024, 30017, 25202, 32755, AGC= 62, IDX= 513,-0.14, 2.352,-1.790, 2.340, 2.995, PHS=-0.555, 1.546,-0.658, RAW= 332.4,  -3.1, CAL= 334.3,  -4.5, ROT= 175.7,   4.5

2025-06-05T16:55:59.259Z,1749142559.259 [DAT](INFO): got valid direction response:
 16:55:57.9609 LVL= 31024, 30017, 25202, 32755, AGC= 62, IDX= 513,-0.14, 2.352,-1.790, 2.340, 2.995, PHS=-0.555, 1.546,-0.658, RAW= 332.4,  -3.1, CAL= 334.3,  -4.5, ROT= 175.7,   4.5

2025-06-05T16:55:59.259Z,1749142559.259 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-05T16:55:59.260Z,1749142559.260 [DAT](INFO): direction in FSK: [-0.994111,0.074748,-0.078459]
2025-06-05T16:55:59.260Z,1749142559.260 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:59.276Z,1749142559.276 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.105698
2025-06-05T16:55:59.484Z,1749142559.484 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.312220
2025-06-05T16:55:59.617Z,1749142559.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.505421 s,
      deltaX: 0.300001 m,
      approachRate: 0.593567 m/s,
      rangeRepo size: 4

2025-06-05T16:55:59.624Z,1749142559.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.537874 m,
      bearing: 130.424849 deg,
      lat: 36.906270 deg,
      lon: -122.115910 deg,
      deltaT: 0.505421 s,
      deltaX: 0.297533 m,
      approachRate: 0.588684 m/s,
      posRepo size: 4

2025-06-05T16:55:59.624Z,1749142559.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.54 m.
2025-06-05T16:55:59.733Z,1749142559.733 [DAT](INFO): DAT read: Rx Time:16:55:58.4613 

2025-06-05T16:55:59.734Z,1749142559.734 [DAT](INFO): Rx dataTimestamp_ set to:1749142559.733414
2025-06-05T16:55:59.735Z,1749142559.735 [DAT](INFO): DAT read: Bearing 183.1,   6.2 (Local)

2025-06-05T16:55:59.736Z,1749142559.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.1,   6.2 (Local)

2025-06-05T16:55:59.738Z,1749142559.738 [DAT](INFO): DAT read: Range 10 to 50 :    20.3 m (trip time 13.5 ms) speed -0.5

2025-06-05T16:55:59.743Z,1749142559.743 [DAT](INFO): DAT read: 16:55:58.4613 LVL= 22336, 20241, 19954, 31859, AGC= 66, IDX=   4, 0.43,-2.695,-0.728,-2.387,-2.028, PHS=-0.579, 1.346,-0.363, RAW= 324.1,  -4.5, CAL= 326.9,  -6.2, ROT= 183.1,   6.2

2025-06-05T16:55:59.744Z,1749142559.744 [DAT](INFO): got valid direction response:
 16:55:58.4613 LVL= 22336, 20241, 19954, 31859, AGC= 66, IDX=   4, 0.43,-2.695,-0.728,-2.387,-2.028, PHS=-0.579, 1.346,-0.363, RAW= 324.1,  -4.5, CAL= 326.9,  -6.2, ROT= 183.1,   6.2

2025-06-05T16:55:59.745Z,1749142559.745 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-05T16:55:59.746Z,1749142559.746 [DAT](INFO): direction in FSK: [-0.992696,-0.053763,-0.107999]
2025-06-05T16:55:59.746Z,1749142559.746 [DAT](INFO): publishing direction and range info
2025-06-05T16:55:59.751Z,1749142559.751 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.580233
2025-06-05T16:55:59.984Z,1749142559.984 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.812743
2025-06-05T16:55:59.985Z,1749142559.985 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060508571576,35.0, +10.3,   0.0, 0
2025-06-05T16:56:00.040Z,1749142560.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 0.504083 s,
      deltaX: 0.599998 m,
      approachRate: 1.190277 m/s,
      rangeRepo size: 4

2025-06-05T16:56:00.057Z,1749142560.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.132933 m,
      bearing: 137.847787 deg,
      lat: 36.906270 deg,
      lon: -122.115925 deg,
      deltaT: 0.504083 s,
      deltaX: 0.595058 m,
      approachRate: 1.180477 m/s,
      posRepo size: 4

2025-06-05T16:56:00.064Z,1749142560.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.13 m.
2025-06-05T16:56:00.236Z,1749142560.236 [DAT](INFO): DAT read: Rx Time:16:55:58.9615 

2025-06-05T16:56:00.236Z,1749142560.236 [DAT](INFO): Rx dataTimestamp_ set to:1749142560.235922
2025-06-05T16:56:00.237Z,1749142560.237 [DAT](INFO): DAT read: Bearing 183.8,   4.9 (Local)

2025-06-05T16:56:00.238Z,1749142560.238 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.8,   4.9 (Local)

2025-06-05T16:56:00.240Z,1749142560.240 [DAT](INFO): DAT read: Range 10 to 50 :    20.6 m (trip time 13.7 ms) speed -0.6

2025-06-05T16:56:00.247Z,1749142560.247 [DAT](INFO): DAT read: 16:55:58.9615 LVL= 32752, 31201, 28498, 32755, AGC= 62, IDX= 502, 0.31, 0.438, 2.465, 0.775, 1.161, PHS=-0.636, 1.350,-0.389, RAW= 323.5,  -3.5, CAL= 326.2,  -4.9, ROT= 183.8,   4.9

2025-06-05T16:56:00.249Z,1749142560.249 [DAT](INFO): got valid direction response:
 16:55:58.9615 LVL= 32752, 31201, 28498, 32755, AGC= 62, IDX= 502, 0.31, 0.438, 2.465, 0.775, 1.161, PHS=-0.636, 1.350,-0.389, RAW= 323.5,  -3.5, CAL= 326.2,  -4.9, ROT= 183.8,   4.9

2025-06-05T16:56:00.250Z,1749142560.250 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-05T16:56:00.256Z,1749142560.256 [DAT](INFO): direction in FSK: [-0.994155,-0.066032,-0.085417]
2025-06-05T16:56:00.256Z,1749142560.256 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:00.260Z,1749142560.260 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.089301
2025-06-05T16:56:00.490Z,1749142560.490 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.318753
2025-06-05T16:56:00.700Z,1749142560.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.502508 s,
      deltaX: 0.300001 m,
      approachRate: 0.597008 m/s,
      rangeRepo size: 4

2025-06-05T16:56:00.707Z,1749142560.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.430464 m,
      bearing: 138.637749 deg,
      lat: 36.906270 deg,
      lon: -122.115927 deg,
      deltaT: 0.502508 s,
      deltaX: 0.297531 m,
      approachRate: 0.592092 m/s,
      posRepo size: 4

2025-06-05T16:56:00.709Z,1749142560.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.43 m.
2025-06-05T16:56:00.740Z,1749142560.740 [DAT](INFO): DAT read: Rx Time:16:55:59.4618 

2025-06-05T16:56:00.740Z,1749142560.740 [DAT](INFO): Rx dataTimestamp_ set to:1749142560.740082
2025-06-05T16:56:00.742Z,1749142560.742 [DAT](INFO): DAT read: Bearing 184.4,   4.9 (Local)

2025-06-05T16:56:00.743Z,1749142560.743 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.4,   4.9 (Local)

2025-06-05T16:56:00.745Z,1749142560.745 [DAT](INFO): DAT read: Range 10 to 50 :    21.0 m (trip time 14.0 ms) speed -0.7

2025-06-05T16:56:00.751Z,1749142560.751 [DAT](INFO): DAT read: 16:55:59.4618 LVL= 30672, 28625, 27538, 32755, AGC= 62, IDX= 505, 0.28,-2.376,-0.327,-2.012,-1.635, PHS=-0.653, 1.355,-0.380, RAW= 322.8,  -3.5, CAL= 325.6,  -4.9, ROT= 184.4,   4.9

2025-06-05T16:56:00.752Z,1749142560.752 [DAT](INFO): got valid direction response:
 16:55:59.4618 LVL= 30672, 28625, 27538, 32755, AGC= 62, IDX= 505, 0.28,-2.376,-0.327,-2.012,-1.635, PHS=-0.653, 1.355,-0.380, RAW= 322.8,  -3.5, CAL= 325.6,  -4.9, ROT= 184.4,   4.9

2025-06-05T16:56:00.752Z,1749142560.752 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-05T16:56:00.753Z,1749142560.753 [DAT](INFO): direction in FSK: [-0.993409,-0.076439,-0.085417]
2025-06-05T16:56:00.754Z,1749142560.754 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:00.757Z,1749142560.757 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.586625
2025-06-05T16:56:00.992Z,1749142560.992 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.820925
2025-06-05T16:56:01.188Z,1749142561.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.504160 s,
      deltaX: 0.400000 m,
      approachRate: 0.793398 m/s,
      rangeRepo size: 4

2025-06-05T16:56:01.192Z,1749142561.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.827181 m,
      bearing: 139.237211 deg,
      lat: 36.906270 deg,
      lon: -122.115929 deg,
      deltaT: 0.504160 s,
      deltaX: 0.396717 m,
      approachRate: 0.786887 m/s,
      posRepo size: 4

2025-06-05T16:56:01.193Z,1749142561.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.83 m.
2025-06-05T16:56:01.244Z,1749142561.244 [DAT](INFO): DAT read: Rx Time:16:55:59.9619 

2025-06-05T16:56:01.244Z,1749142561.244 [DAT](INFO): Rx dataTimestamp_ set to:1749142561.244066
2025-06-05T16:56:01.246Z,1749142561.246 [DAT](INFO): DAT read: Bearing 183.7,   6.0 (Local)

2025-06-05T16:56:01.246Z,1749142561.246 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.7,   6.0 (Local)

2025-06-05T16:56:01.249Z,1749142561.249 [DAT](INFO): DAT read: Range 10 to 50 :    21.2 m (trip time 14.1 ms) speed -0.6

2025-06-05T16:56:01.254Z,1749142561.254 [DAT](INFO): DAT read: 16:55:59.9619 LVL= 31216, 29169, 29170, 32755, AGC= 62, IDX= 507, 0.09, 2.348,-1.905, 2.687, 3.048, PHS=-0.612, 1.377,-0.365, RAW= 323.4,  -4.3, CAL= 326.3,  -6.0, ROT= 183.7,   6.0

2025-06-05T16:56:01.255Z,1749142561.255 [DAT](INFO): got valid direction response:
 16:55:59.9619 LVL= 31216, 29169, 29170, 32755, AGC= 62, IDX= 507, 0.09, 2.348,-1.905, 2.687, 3.048, PHS=-0.612, 1.377,-0.365, RAW= 323.4,  -4.3, CAL= 326.3,  -6.0, ROT= 183.7,   6.0

2025-06-05T16:56:01.255Z,1749142561.255 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-05T16:56:01.256Z,1749142561.256 [DAT](INFO): direction in FSK: [-0.992449,-0.064179,-0.104528]
2025-06-05T16:56:01.256Z,1749142561.256 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:01.260Z,1749142561.260 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.089180
2025-06-05T16:56:01.495Z,1749142561.495 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.324352
2025-06-05T16:56:01.701Z,1749142561.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.503984 s,
      deltaX: 0.200001 m,
      approachRate: 0.396839 m/s,
      rangeRepo size: 4

2025-06-05T16:56:01.720Z,1749142561.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.025536 m,
      bearing: 138.453352 deg,
      lat: 36.906270 deg,
      lon: -122.115931 deg,
      deltaT: 0.503984 s,
      deltaX: 0.198355 m,
      approachRate: 0.393573 m/s,
      posRepo size: 4

2025-06-05T16:56:01.720Z,1749142561.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.03 m.
2025-06-05T16:56:01.749Z,1749142561.749 [DAT](INFO): DAT read: Rx Time:16:56:00.4623 

2025-06-05T16:56:01.750Z,1749142561.750 [DAT](INFO): Rx dataTimestamp_ set to:1749142561.749584
2025-06-05T16:56:01.751Z,1749142561.751 [DAT](INFO): DAT read: Bearing 183.8,   7.1 (Local)

2025-06-05T16:56:01.752Z,1749142561.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.8,   7.1 (Local)

2025-06-05T16:56:01.754Z,1749142561.754 [DAT](INFO): DAT read: Range 10 to 50 :    21.8 m (trip time 14.5 ms) speed -0.7

2025-06-05T16:56:01.758Z,1749142561.758 [DAT](INFO): DAT read: 16:56:00.4623 LVL= 30064, 28849, 25362, 32755, AGC= 63, IDX= 511,-0.12, 2.537,-1.705, 2.886,-3.066, PHS=-0.592, 1.407,-0.334, RAW= 323.2,  -5.2, CAL= 326.2,  -7.1, ROT= 183.8,   7.1

2025-06-05T16:56:01.759Z,1749142561.759 [DAT](INFO): got valid direction response:
 16:56:00.4623 LVL= 30064, 28849, 25362, 32755, AGC= 63, IDX= 511,-0.12, 2.537,-1.705, 2.886,-3.066, PHS=-0.592, 1.407,-0.334, RAW= 323.2,  -5.2, CAL= 326.2,  -7.1, ROT= 183.8,   7.1

2025-06-05T16:56:01.760Z,1749142561.760 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-05T16:56:01.761Z,1749142561.761 [DAT](INFO): direction in FSK: [-0.990150,-0.065766,-0.123601]
2025-06-05T16:56:01.761Z,1749142561.761 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:01.767Z,1749142561.767 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.595188
2025-06-05T16:56:01.000Z,1749142562.000 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.829031
2025-06-05T16:56:02.108Z,1749142562.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.505518 s,
      deltaX: 0.599998 m,
      approachRate: 1.186898 m/s,
      rangeRepo size: 4

2025-06-05T16:56:02.116Z,1749142562.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.620598 m,
      bearing: 138.460773 deg,
      lat: 36.906270 deg,
      lon: -122.115931 deg,
      deltaT: 0.505518 s,
      deltaX: 0.595062 m,
      approachRate: 1.177134 m/s,
      posRepo size: 4

2025-06-05T16:56:02.116Z,1749142562.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.62 m.
2025-06-05T16:56:02.252Z,1749142562.252 [DAT](INFO): DAT read: Rx Time:16:56:00.9625 

2025-06-05T16:56:02.252Z,1749142562.252 [DAT](INFO): Rx dataTimestamp_ set to:1749142562.251707
2025-06-05T16:56:02.253Z,1749142562.253 [DAT](INFO): DAT read: Range 10 to 50 :    22.1 m (trip time 14.7 ms) speed -0.6

2025-06-05T16:56:02.254Z,1749142562.254 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-06-05T16:56:02.255Z,1749142562.255 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.084136
2025-06-05T16:56:02.467Z,1749142562.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.502123 s,
      deltaX: 0.300001 m,
      approachRate: 0.597465 m/s,
      rangeRepo size: 4

2025-06-05T16:56:02.467Z,1749142562.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.62 m.
2025-06-05T16:56:02.506Z,1749142562.506 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.334665
2025-06-05T16:56:02.759Z,1749142562.759 [DAT](INFO): DAT read: Rx Time:16:56:01.4628 

2025-06-05T16:56:02.760Z,1749142562.760 [DAT](INFO): Rx dataTimestamp_ set to:1749142562.759850
2025-06-05T16:56:02.761Z,1749142562.761 [DAT](INFO): DAT read: Bearing 183.6,   6.4 (Local)

2025-06-05T16:56:02.762Z,1749142562.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.6,   6.4 (Local)

2025-06-05T16:56:02.764Z,1749142562.764 [DAT](INFO): DAT read: Range 10 to 50 :    22.7 m (trip time 15.1 ms) speed -0.5

2025-06-05T16:56:02.769Z,1749142562.769 [DAT](INFO): DAT read: 16:56:01.4628 LVL= 26736, 25809, 24898, 32755, AGC= 66, IDX=   4, 0.32,-1.148, 0.871,-0.814,-0.461, PHS=-0.599, 1.379,-0.356, RAW= 323.5,  -4.6, CAL= 326.4,  -6.4, ROT= 183.6,   6.4

2025-06-05T16:56:02.771Z,1749142562.771 [DAT](INFO): got valid direction response:
 16:56:01.4628 LVL= 26736, 25809, 24898, 32755, AGC= 66, IDX=   4, 0.32,-1.148, 0.871,-0.814,-0.461, PHS=-0.599, 1.379,-0.356, RAW= 323.5,  -4.6, CAL= 326.4,  -6.4, ROT= 183.6,   6.4

2025-06-05T16:56:02.772Z,1749142562.772 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-05T16:56:02.773Z,1749142562.773 [DAT](INFO): direction in FSK: [-0.991807,-0.062399,-0.111469]
2025-06-05T16:56:02.773Z,1749142562.773 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:02.776Z,1749142562.776 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.605476
2025-06-05T16:56:02.960Z,1749142562.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.508143 s,
      deltaX: 0.600000 m,
      approachRate: 1.180771 m/s,
      rangeRepo size: 4

2025-06-05T16:56:02.966Z,1749142562.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.513132 m,
      bearing: 138.217356 deg,
      lat: 36.906270 deg,
      lon: -122.115931 deg,
      deltaT: 1.010266 s,
      deltaX: 0.892534 m,
      approachRate: 0.883465 m/s,
      posRepo size: 4

2025-06-05T16:56:02.967Z,1749142562.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.51 m.
2025-06-05T16:56:03.008Z,1749142563.008 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.836680
2025-06-05T16:56:03.261Z,1749142563.261 [DAT](INFO): DAT read: Rx Time:16:56:01.9629 

2025-06-05T16:56:03.261Z,1749142563.261 [DAT](INFO): Rx dataTimestamp_ set to:1749142563.260867
2025-06-05T16:56:03.263Z,1749142563.263 [DAT](INFO): DAT read: Bearing 183.5,   6.5 (Local)

2025-06-05T16:56:03.264Z,1749142563.264 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.5,   6.5 (Local)

2025-06-05T16:56:03.267Z,1749142563.267 [DAT](INFO): DAT read: Range 10 to 50 :    22.8 m (trip time 15.2 ms) speed -0.7

2025-06-05T16:56:03.271Z,1749142563.271 [DAT](INFO): DAT read: 16:56:01.9629 LVL= 32752, 30961, 25586, 3C= 63, IDX= 502, 0.18,-2.336,-0.340,-2.007,-1.660, PHS=-0.588, 1.367,-0.350, RAW= 323.6,  -4.7, CAL= 326.5,  -6.5, ROT= 183.5,   6.5

2025-06-05T16:56:03.272Z,1749142563.272 [DAT](INFO): unknown deviceResponse_: 16:56:01.9629 LVL= 32752, 30961, 25586, 3C= 63, IDX= 502, 0.18,-2.336,-0.340,-2.007,-1.660, PHS=-0.588, 1.367,-0.350, RAW= 323.6,  -4.7, CAL= 326.5,  -6.5, ROT= 183.5,   6.5

2025-06-05T16:56:03.272Z,1749142563.272 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-06-05T16:56:03.273Z,1749142563.273 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.102329
2025-06-05T16:56:03.374Z,1749142563.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.501017 s,
      deltaX: 0.099998 m,
      approachRate: 0.199591 m/s,
      rangeRepo size: 4

2025-06-05T16:56:03.379Z,1749142563.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.51 m.
2025-06-05T16:56:03.516Z,1749142563.516 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.344670
2025-06-05T16:56:03.766Z,1749142563.766 [DAT](INFO): DAT read: Rx Time:16:56:02.4634 

2025-06-05T16:56:03.767Z,1749142563.767 [DAT](INFO): Rx dataTimestamp_ set to:1749142563.766622
2025-06-05T16:56:03.771Z,1749142563.771 [DAT](INFO): DAT read: Bearing 183.8,   6.6 (Local)

2025-06-05T16:56:03.772Z,1749142563.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.8,   6.6 (Local)

2025-06-05T16:56:03.776Z,1749142563.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:56:03.781Z,1749142563.781 [DAT](INFO): DAT read: Range 10 to 50 :    23.6 m (trip time 15.7 ms) speed -0.5

2025-06-05T16:56:03.791Z,1749142563.791 [DAT](INFO): DAT read: 16:56:02.4634 LVL= 29680, 25265, 21794, 32755, AGC= 65, IDX= 506, 0.07,-2.371,-0.365,-2.031,-1.691, PHS=-0.592, 1.374,-0.342, RAW= 323.3,  -4.8, CAL= 326.2,  -6.6, ROT= 183.8,   6.6

2025-06-05T16:56:03.793Z,1749142563.793 [DAT](INFO): got valid direction response:
 16:56:02.4634 LVL= 29680, 25265, 21794, 32755, AGC= 65, IDX= 506, 0.07,-2.371,-0.365,-2.031,-1.691, PHS=-0.592, 1.374,-0.342, RAW= 323.3,  -4.8, CAL= 326.2,  -6.6, ROT= 183.8,   6.6

2025-06-05T16:56:03.794Z,1749142563.794 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-05T16:56:03.796Z,1749142563.796 [DAT](INFO): direction in FSK: [-0.991189,-0.065835,-0.114937]
2025-06-05T16:56:03.797Z,1749142563.797 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:03.828Z,1749142563.828 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.656700
2025-06-05T16:56:03.921Z,1749142563.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.505755 s,
      deltaX: 0.800001 m,
      approachRate: 1.581796 m/s,
      rangeRepo size: 4

2025-06-05T16:56:03.948Z,1749142563.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.405724 m,
      bearing: 138.373193 deg,
      lat: 36.906270 deg,
      lon: -122.115930 deg,
      deltaT: 1.006772 s,
      deltaX: 0.892591 m,
      approachRate: 0.886588 m/s,
      posRepo size: 4

2025-06-05T16:56:03.949Z,1749142563.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.41 m.
2025-06-05T16:56:04.016Z,1749142564.016 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.845574
2025-06-05T16:56:04.268Z,1749142564.268 [DAT](INFO): DAT read: Rx Time:16:56:02.9636 

2025-06-05T16:56:04.268Z,1749142564.268 [DAT](INFO): Rx dataTimestamp_ set to:1749142564.268044
2025-06-05T16:56:04.270Z,1749142564.270 [DAT](INFO): DAT read: Bearing 183.8,   6.2 (Local)

2025-06-05T16:56:04.271Z,1749142564.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.8,   6.2 (Local)

2025-06-05T16:56:04.273Z,1749142564.273 [DAT](INFO): DAT read: Range 10 to 50 :    23.9 m (trip time 15.9 ms) speed -0.7

2025-06-05T16:56:04.277Z,1749142564.277 [DAT](INFO): DAT read: 16:56:02.9636 LVL= 32752, 32753, 26866, 32755, AGC= 63, IDX= 508,-0.02, 1.364,-2.904, 1.702, 2.055, PHS=-0.603, 1.371,-0.356, RAW= 323.4,  -4.5, CAL= 326.2,  -6.2, ROT= 183.8,   6.2

2025-06-05T16:56:04.279Z,1749142564.279 [DAT](INFO): got valid direction response:
 16:56:02.9636 LVL= 32752, 32753, 26866, 32755, AGC= 63, IDX= 508,-0.02, 1.364,-2.904, 1.702, 2.055, PHS=-0.603, 1.371,-0.356, RAW= 323.4,  -4.5, CAL= 326.2,  -6.2, ROT= 183.8,   6.2

2025-06-05T16:56:04.279Z,1749142564.279 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-05T16:56:04.280Z,1749142564.280 [DAT](INFO): direction in FSK: [-0.991965,-0.065886,-0.107999]
2025-06-05T16:56:04.281Z,1749142564.281 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:04.285Z,1749142564.285 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.114666
2025-06-05T16:56:04.351Z,1749142564.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 0.501422 s,
      deltaX: 0.299999 m,
      approachRate: 0.598297 m/s,
      rangeRepo size: 4

2025-06-05T16:56:04.354Z,1749142564.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.703190 m,
      bearing: 138.324522 deg,
      lat: 36.906270 deg,
      lon: -122.115928 deg,
      deltaT: 0.501422 s,
      deltaX: 0.297466 m,
      approachRate: 0.593245 m/s,
      posRepo size: 4

2025-06-05T16:56:04.363Z,1749142564.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.70 m.
2025-06-05T16:56:04.521Z,1749142564.521 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.349935
2025-06-05T16:56:04.696Z,1749142564.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.70 m.
2025-06-05T16:56:04.773Z,1749142564.773 [DAT](INFO): DAT read: Rx Time:16:56:03.4639 

2025-06-05T16:56:04.774Z,1749142564.774 [DAT](INFO): Rx dataTimestamp_ set to:1749142564.773340
2025-06-05T16:56:04.778Z,1749142564.778 [DAT](INFO): DAT read: Bearing 183.9,   5.2 (Local)

2025-06-05T16:56:04.779Z,1749142564.779 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:56:04.781Z,1749142564.781 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.9,   5.2 (Local)

2025-06-05T16:56:04.788Z,1749142564.788 [DAT](INFO): DAT read: Range 10 to 50 :    24.3 m (trip time 16.2 ms) speed -0.6

2025-06-05T16:56:04.801Z,1749142564.801 [DAT](INFO): DAT read: 16:56:03.4639 LVL= 31056, 29969, 27250, 32755, AGC= 62, IDX= 511,-0.13, 0.678, 2.688, 1.017, 1.392, PHS=-0.626, 1.344,-0.378, RAW= 323.3,  -3.7, CAL= 326.1,  -5.2, ROT= 183.9,   5.2

2025-06-05T16:56:04.802Z,1749142564.802 [DAT](INFO): got valid direction response:
 16:56:03.4639 LVL= 31056, 29969, 27250, 32755, AGC= 62, IDX= 511,-0.13, 0.678, 2.688, 1.017, 1.392, PHS=-0.626, 1.344,-0.378, RAW= 323.3,  -3.7, CAL= 326.1,  -5.2, ROT= 183.9,   5.2

2025-06-05T16:56:04.827Z,1749142564.827 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-05T16:56:04.828Z,1749142564.828 [DAT](INFO): direction in FSK: [-0.993578,-0.067735,-0.090633]
2025-06-05T16:56:04.828Z,1749142564.828 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:04.836Z,1749142564.836 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.665218
2025-06-05T16:56:05.023Z,1749142565.023 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.852350
2025-06-05T16:56:05.113Z,1749142565.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.505296 s,
      deltaX: 0.400000 m,
      approachRate: 0.791614 m/s,
      rangeRepo size: 4

2025-06-05T16:56:05.117Z,1749142565.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.099766 m,
      bearing: 138.424072 deg,
      lat: 36.906270 deg,
      lon: -122.115928 deg,
      deltaT: 0.505296 s,
      deltaX: 0.396576 m,
      approachRate: 0.784839 m/s,
      posRepo size: 4

2025-06-05T16:56:05.117Z,1749142565.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.10 m.
2025-06-05T16:56:05.275Z,1749142565.275 [DAT](INFO): DAT read: Rx Time:16:56:03.9641 

2025-06-05T16:56:05.276Z,1749142565.276 [DAT](INFO): Rx dataTimestamp_ set to:1749142565.275444
2025-06-05T16:56:05.277Z,1749142565.277 [DAT](INFO): DAT read: Range 10 to 50 :    24.6 m (trip time 16.4 ms) speed -0.6

2025-06-05T16:56:05.277Z,1749142565.277 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-06-05T16:56:05.279Z,1749142565.279 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.107743
2025-06-05T16:56:05.468Z,1749142565.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.502104 s,
      deltaX: 0.300001 m,
      approachRate: 0.597488 m/s,
      rangeRepo size: 4

2025-06-05T16:56:05.469Z,1749142565.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.10 m.
2025-06-05T16:56:05.528Z,1749142565.528 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.357233
2025-06-05T16:56:05.780Z,1749142565.780 [DAT](INFO): DAT read: Rx Time:16:56:04.4644 

2025-06-05T16:56:05.780Z,1749142565.780 [DAT](INFO): Rx dataTimestamp_ set to:1749142565.779869
2025-06-05T16:56:05.781Z,1749142565.781 [DAT](INFO): DAT read: Bearing 183.8,   6.7 (Local)

2025-06-05T16:56:05.782Z,1749142565.782 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.8,   6.7 (Local)

2025-06-05T16:56:05.785Z,1749142565.785 [DAT](INFO): DAT read: Range 10 to 50 :    24.9 m (trip time 16.6 ms) speed -0.7

2025-06-05T16:56:05.796Z,1749142565.796 [DAT](INFO): DAT read: 16:56:04.4644 LVL= 23408, 22753, 24930, 32755, AGC= 67, IDX=   4, 0.16,-0.620, 1.409,-0.274, 0.067, PHS=-0.598, 1.389,-0.344, RAW= 323.2,  -4.8, CAL= 326.2,  -6.7, ROT= 183.8,   6.7

2025-06-05T16:56:05.801Z,1749142565.801 [DAT](INFO): got valid direction response:
 16:56:04.4644 LVL= 23408, 22753, 24930, 32755, AGC= 67, IDX=   4, 0.16,-0.620, 1.409,-0.274, 0.067, PHS=-0.598, 1.389,-0.344, RAW= 323.2,  -4.8, CAL= 326.2,  -6.7, ROT= 183.8,   6.7

2025-06-05T16:56:05.818Z,1749142565.818 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-05T16:56:05.819Z,1749142565.819 [DAT](INFO): direction in FSK: [-0.990987,-0.065821,-0.116671]
2025-06-05T16:56:05.820Z,1749142565.820 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:05.827Z,1749142565.827 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.656425
2025-06-05T16:56:05.989Z,1749142565.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.504425 s,
      deltaX: 0.299999 m,
      approachRate: 0.594735 m/s,
      rangeRepo size: 4

2025-06-05T16:56:05.995Z,1749142565.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.694807 m,
      bearing: 138.222423 deg,
      lat: 36.906270 deg,
      lon: -122.115928 deg,
      deltaT: 1.006529 s,
      deltaX: 0.595041 m,
      approachRate: 0.591181 m/s,
      posRepo size: 4

2025-06-05T16:56:05.996Z,1749142565.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.69 m.
2025-06-05T16:56:06.033Z,1749142566.033 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.862234
2025-06-05T16:56:06.284Z,1749142566.284 [DAT](INFO): DAT read: Rx Time:16:56:04.9646 

2025-06-05T16:56:06.285Z,1749142566.285 [DAT](INFO): Rx dataTimestamp_ set to:1749142566.284256
2025-06-05T16:56:06.286Z,1749142566.286 [DAT](INFO): DAT read: Bearing 183.4,   7.0 (Local)

2025-06-05T16:56:06.286Z,1749142566.286 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.4,   7.0 (Local)

2025-06-05T16:56:06.288Z,1749142566.288 [DAT](INFO): DAT read: Range 10 to 50 :    25.2 m (trip time 16.8 ms) speed -0.5

2025-06-05T16:56:06.293Z,1749142566.293 [DAT](INFO): DAT read: 16:56:04.9646 LVL= 32752, 28657, 27282, 32755, AGC= 63, IDX= 502,-0.02,-1.844, 0.029,-1.535,-1.216, PHS=-0.540, 1.293,-0.321, RAW= 323.7,  -5.0, CAL= 326.6,  -7.0, ROT= 183.4,   7.0

2025-06-05T16:56:06.294Z,1749142566.294 [DAT](INFO): got valid direction response:
 16:56:04.9646 LVL= 32752, 28657, 27282, 32755, AGC= 63, IDX= 502,-0.02,-1.844, 0.029,-1.535,-1.216, PHS=-0.540, 1.293,-0.321, RAW= 323.7,  -5.0, CAL= 326.6,  -7.0, ROT= 183.4,   7.0

2025-06-05T16:56:06.295Z,1749142566.295 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-05T16:56:06.296Z,1749142566.296 [DAT](INFO): direction in FSK: [-0.990799,-0.058864,-0.121869]
2025-06-05T16:56:06.296Z,1749142566.296 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:06.301Z,1749142566.301 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.130126
2025-06-05T16:56:06.430Z,1749142566.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.504387 s,
      deltaX: 0.300001 m,
      approachRate: 0.594784 m/s,
      rangeRepo size: 4

2025-06-05T16:56:06.436Z,1749142566.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.992336 m,
      bearing: 137.747232 deg,
      lat: 36.906271 deg,
      lon: -122.115927 deg,
      deltaT: 0.504387 s,
      deltaX: 0.297529 m,
      approachRate: 0.589883 m/s,
      posRepo size: 4

2025-06-05T16:56:06.436Z,1749142566.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m.
2025-06-05T16:56:06.536Z,1749142566.536 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.365450
2025-06-05T16:56:06.668Z,1749142566.668 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:56:06.788Z,1749142566.788 [DAT](INFO): DAT read: Rx Time:16:56:05.4650 

2025-06-05T16:56:06.788Z,1749142566.788 [DAT](INFO): Rx dataTimestamp_ set to:1749142566.788031
2025-06-05T16:56:06.790Z,1749142566.790 [DAT](INFO): DAT read: Bearing 184.0,   6.3 (Local)

2025-06-05T16:56:06.790Z,1749142566.790 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.0,   6.3 (Local)

2025-06-05T16:56:06.792Z,1749142566.792 [DAT](INFO): DAT read: Range 10 to 50 :    25.8 m (trip time 17.2 ms) speed -0.6

2025-06-05T16:56:06.797Z,1749142566.797 [DAT](INFO): DAT read: 16:56:05.4650 LVL= 30000, 29889, 25778, 32755, AGC= 65, IDX= 506,-0.13,-1.105, 0.877,-0.761,-0.423, PHS=-0.594, 1.347,-0.340, RAW= 323.1,  -4.6, CAL= 326.0,  -6.3, ROT= 184.0,   6.3

2025-06-05T16:56:06.798Z,1749142566.798 [DAT](INFO): got valid direction response:
 16:56:05.4650 LVL= 30000, 29889, 25778, 32755, AGC= 65, IDX= 506,-0.13,-1.105, 0.877,-0.761,-0.423, PHS=-0.594, 1.347,-0.340, RAW= 323.1,  -4.6, CAL= 326.0,  -6.3, ROT= 184.0,   6.3

2025-06-05T16:56:06.798Z,1749142566.798 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-05T16:56:06.799Z,1749142566.799 [DAT](INFO): direction in FSK: [-0.991540,-0.069335,-0.109734]
2025-06-05T16:56:06.799Z,1749142566.799 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:06.804Z,1749142566.804 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.632698
2025-06-05T16:56:06.899Z,1749142566.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.503775 s,
      deltaX: 0.599998 m,
      approachRate: 1.191005 m/s,
      rangeRepo size: 4

2025-06-05T16:56:06.901Z,1749142566.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.587391 m,
      bearing: 138.373184 deg,
      lat: 36.906272 deg,
      lon: -122.115927 deg,
      deltaT: 0.503775 s,
      deltaX: 0.595055 m,
      approachRate: 1.181191 m/s,
      posRepo size: 4

2025-06-05T16:56:06.902Z,1749142566.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.59 m.
2025-06-05T16:56:07.039Z,1749142567.039 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.868503
2025-06-05T16:56:07.270Z,1749142567.270 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-06-05T16:56:07.292Z,1749142567.292 [DAT](INFO): DAT read: Rx Time:16:56:05.9652 

2025-06-05T16:56:07.292Z,1749142567.292 [DAT](INFO): Rx dataTimestamp_ set to:1749142567.291959
2025-06-05T16:56:07.293Z,1749142567.293 [DAT](INFO): DAT read: Bearing 184.6,   5.9 (Local)

2025-06-05T16:56:07.294Z,1749142567.294 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.6,   5.9 (Local)

2025-06-05T16:56:07.296Z,1749142567.296 [DAT](INFO): DAT read: Range 10 to 50 :    26.1 m (trip time 17.4 ms) speed -0.6

2025-06-05T16:56:07.302Z,1749142567.302 [DAT](INFO): DAT read: 16:56:05.9652 LVL= 31680, 29905, 27906, 32755, AGC= 64, IDX= 508,-0.30,-2.605,-0.600,-2.238,-1.900, PHS=-0.618, 1.347,-0.341, RAW= 322.5,  -4.3, CAL= 325.4,  -5.9, ROT= 184.6,   5.9

2025-06-05T16:56:07.303Z,1749142567.303 [DAT](INFO): got valid direction response:
 16:56:05.9652 LVL= 31680, 29905, 27906, 32755, AGC= 64, IDX= 508,-0.30,-2.605,-0.600,-2.238,-1.900, PHS=-0.618, 1.347,-0.341, RAW= 322.5,  -4.3, CAL= 325.4,  -5.9, ROT= 184.6,   5.9

2025-06-05T16:56:07.303Z,1749142567.303 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-05T16:56:07.304Z,1749142567.304 [DAT](INFO): direction in FSK: [-0.991499,-0.079774,-0.102793]
2025-06-05T16:56:07.305Z,1749142567.305 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:07.317Z,1749142567.317 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.146491
2025-06-05T16:56:07.363Z,1749142567.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.503928 s,
      deltaX: 0.300001 m,
      approachRate: 0.595325 m/s,
      rangeRepo size: 4

2025-06-05T16:56:07.372Z,1749142567.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.884569 m,
      bearing: 138.984312 deg,
      lat: 36.906272 deg,
      lon: -122.115928 deg,
      deltaT: 0.503928 s,
      deltaX: 0.297178 m,
      approachRate: 0.589724 m/s,
      posRepo size: 4

2025-06-05T16:56:07.373Z,1749142567.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.88 m.
2025-06-05T16:56:07.546Z,1749142567.546 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.375080
2025-06-05T16:56:07.760Z,1749142567.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.88 m.
2025-06-05T16:56:07.797Z,1749142567.797 [DAT](INFO): DAT read: Rx Time:16:56:06.4656 

2025-06-05T16:56:07.797Z,1749142567.797 [DAT](INFO): Rx dataTimestamp_ set to:1749142567.796737
2025-06-05T16:56:07.799Z,1749142567.799 [DAT](INFO): DAT read: Bearing 185.0,   5.4 (Local)

2025-06-05T16:56:07.799Z,1749142567.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.0,   5.4 (Local)

2025-06-05T16:56:07.801Z,1749142567.801 [DAT](INFO): DAT read: Range 10 to 50 :    26.7 m (trip time 17.8 ms) speed -0.6

2025-06-05T16:56:07.807Z,1749142567.807 [DAT](INFO): DAT read: 16:56:06.4656 LVL= 29984, 32241, 29170, 32755, AGC= 66, IDX= 511, 0.47, 0.448, 2.477, 0.832, 1.178, PHS=-0.643, 1.346,-0.349, RAW= 322.1,  -3.8, CAL= 325.0,  -5.4, ROT= 185.0,   5.4

2025-06-05T16:56:07.808Z,1749142567.808 [DAT](INFO): got valid direction response:
 16:56:06.4656 LVL= 29984, 32241, 29170, 32755, AGC= 66, IDX= 511, 0.47, 0.448, 2.477, 0.832, 1.178, PHS=-0.643, 1.346,-0.349, RAW= 322.1,  -3.8, CAL= 325.0,  -5.4, ROT= 185.0,   5.4

2025-06-05T16:56:07.808Z,1749142567.808 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-05T16:56:07.809Z,1749142567.809 [DAT](INFO): direction in FSK: [-0.991774,-0.086769,-0.094108]
2025-06-05T16:56:07.810Z,1749142567.810 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:07.813Z,1749142567.813 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.642173
2025-06-05T16:56:08.051Z,1749142568.051 [DAT](INFO): DAT read: Rx Time:16:56:06.9658 

2025-06-05T16:56:08.052Z,1749142568.052 [DAT](INFO): Rx dataTimestamp_ set to:1749142568.051642
2025-06-05T16:56:08.054Z,1749142568.054 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.882905
2025-06-05T16:56:08.185Z,1749142568.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.504778 s,
      deltaX: 0.600000 m,
      approachRate: 1.188642 m/s,
      rangeRepo size: 4

2025-06-05T16:56:08.187Z,1749142568.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.479345 m,
      bearing: 139.380787 deg,
      lat: 36.906272 deg,
      lon: -122.115928 deg,
      deltaT: 0.504778 s,
      deltaX: 0.594776 m,
      approachRate: 1.178293 m/s,
      posRepo size: 4

2025-06-05T16:56:08.188Z,1749142568.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.48 m.
2025-06-05T16:56:08.305Z,1749142568.305 [DAT](INFO): DAT read: Bearing 184.7,   5.7 (Local)

2025-06-05T16:56:08.306Z,1749142568.306 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.7,   5.7 (Local)

2025-06-05T16:56:08.309Z,1749142568.309 [DAT](INFO): DAT read: Range 10 to 50 :    27.0 m (trip time 18.0 ms) speed -0.6

2025-06-05T16:56:08.319Z,1749142568.319 [DAT](INFO): DAT read: 16:56:06.9658 LVL= 19120, 22705, 17954, 30323, AGC= 68 1, 0.35,-0.722, 1.251,-0.354,-0.021, PHS=-0.613, 1.319,-0.336, RAW= 322.4,  -4.1, CAL= 325.3,  -5.7, ROT= 184.7,   5.7

2025-06-05T16:56:08.320Z,1749142568.320 [DAT](INFO): unknown deviceResponse_: 16:56:06.9658 LVL= 19120, 22705, 17954, 30323, AGC= 68 1, 0.35,-0.722, 1.251,-0.354,-0.021, PHS=-0.613, 1.319,-0.336, RAW= 322.4,  -4.1, CAL= 325.3,  -5.7, ROT= 184.7,   5.7

2025-06-05T16:56:08.320Z,1749142568.320 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-06-05T16:56:08.321Z,1749142568.321 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.150091
2025-06-05T16:56:08.560Z,1749142568.560 [DAT](INFO): DAT read: Rx Time:16:56:07.4661 

2025-06-05T16:56:08.561Z,1749142568.561 [DAT](INFO): Rx dataTimestamp_ set to:1749142568.560662
2025-06-05T16:56:08.565Z,1749142568.565 [DAT](INFO): DAT read: Bearing 184.6,   5.6 (Local)

2025-06-05T16:56:08.566Z,1749142568.566 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.6,   5.6 (Local)

2025-06-05T16:56:08.570Z,1749142568.570 [DAT](INFO): DAT read: Range 10 to 50 :    27.5 m (trip time 18.3 ms) speed -0.4

2025-06-05T16:56:08.573Z,1749142568.573 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-06-05T16:56:08.577Z,1749142568.577 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.405460
2025-06-05T16:56:08.661Z,1749142568.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.500000 m,
      deltaT: 0.763925 s,
      deltaX: 0.799999 m,
      approachRate: 1.047222 m/s,
      rangeRepo size: 4

2025-06-05T16:56:08.666Z,1749142568.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.48 m.
2025-06-05T16:56:08.816Z,1749142568.816 [DAT](INFO): DAT read: 16:56:07.4661 LVL= 32752, 31009, 28946, 32755, AGC= 66, IDX= 500, 0.25,-1.437, 0.576,-1.070,-0.723, PHS=-0.626, 1.346,-0.350, RAW= 322.6,  -4.1, CAL= 325.4,  -5.6, ROT= 184.6,   5.6

2025-06-05T16:56:08.817Z,1749142568.817 [DAT](INFO): got valid direction response:
 16:56:07.4661 LVL= 32752, 31009, 28946, 32755, AGC= 66, IDX= 500, 0.25,-1.437, 0.576,-1.070,-0.723, PHS=-0.626, 1.346,-0.350, RAW= 322.6,  -4.1, CAL= 325.4,  -5.6, ROT= 184.6,   5.6

2025-06-05T16:56:08.817Z,1749142568.817 [DAT](INFO): #Rx 30: Read direction message, but no range.
2025-06-05T16:56:08.819Z,1749142568.819 [DAT](INFO): direction in FSK: [-0.992022,-0.079816,-0.097583]
2025-06-05T16:56:08.822Z,1749142568.822 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.650991
2025-06-05T16:56:09.026Z,1749142569.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.48 m.
2025-06-05T16:56:09.062Z,1749142569.062 [DAT](INFO): DAT read: Rx Time:16:56:07.9662 

2025-06-05T16:56:09.063Z,1749142569.063 [DAT](INFO): Rx dataTimestamp_ set to:1749142569.062434
2025-06-05T16:56:09.066Z,1749142569.066 [DAT](INFO): DAT read: Bearing 185.1,   6.6 (Local)

2025-06-05T16:56:09.067Z,1749142569.067 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.1,   6.6 (Local)

2025-06-05T16:56:09.070Z,1749142569.070 [DAT](INFO): DAT read: Range 10 to 50 :    27.6 m (trip time 18.4 ms) speed -0.4

2025-06-05T16:56:09.072Z,1749142569.072 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-06-05T16:56:09.096Z,1749142569.096 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.924587
2025-06-05T16:56:09.317Z,1749142569.317 [DAT](INFO): DAT read: 16:56:07.9662 LVL= 27552, 30273, 22130, 32755, AGC= 67, IDX= 502, 0.17,-2.341,-0.403,-1.961,-1.665, PHS=-0.588, 1.308,-0.299, RAW= 321.9,  -4.8, CAL= 324.9,  -6.6, ROT= 185.1,   6.6

2025-06-05T16:56:09.319Z,1749142569.319 [DAT](INFO): got valid direction response:
 16:56:07.9662 LVL= 27552, 30273, 22130, 32755, AGC= 67, IDX= 502, 0.17,-2.341,-0.403,-1.961,-1.665, PHS=-0.588, 1.308,-0.299, RAW= 321.9,  -4.8, CAL= 324.9,  -6.6, ROT= 185.1,   6.6

2025-06-05T16:56:09.319Z,1749142569.319 [DAT](INFO): #Rx 32: Read direction message, but no range.
2025-06-05T16:56:09.320Z,1749142569.320 [DAT](INFO): direction in FSK: [-0.989440,-0.088305,-0.114937]
2025-06-05T16:56:09.346Z,1749142569.346 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.174860
2025-06-05T16:56:09.454Z,1749142569.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.501772 s,
      deltaX: 0.100000 m,
      approachRate: 0.199294 m/s,
      rangeRepo size: 4

2025-06-05T16:56:09.456Z,1749142569.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.371664 m,
      bearing: 139.417657 deg,
      lat: 36.906272 deg,
      lon: -122.115929 deg,
      deltaT: 1.265697 s,
      deltaX: 0.892319 m,
      approachRate: 0.705002 m/s,
      posRepo size: 4

2025-06-05T16:56:09.457Z,1749142569.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.37 m.
2025-06-05T16:56:09.572Z,1749142569.572 [DAT](INFO): DAT read: Rx Time:16:56:08.4666 

2025-06-05T16:56:09.573Z,1749142569.573 [DAT](INFO): Rx dataTimestamp_ set to:1749142569.572444
2025-06-05T16:56:09.593Z,1749142569.593 [DAT](INFO): DAT read: Bearing 184.8,   8.4 (Local)

2025-06-05T16:56:09.594Z,1749142569.594 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.8,   8.4 (Local)

2025-06-05T16:56:09.612Z,1749142569.612 [DAT](INFO): DAT read: Range 10 to 50 :    28.4 m (trip time 18.9 ms) speed -0.6

2025-06-05T16:56:09.643Z,1749142569.643 [DAT](INFO): DAT read: 16:56:08.4666 LVL= 31600, 28657, 25234, 32755, AGC= 68, IDX= 506, 0.11,-1.484, 0.484,-1.101,-0.839, PHS=-0.557, 1.370,-0.265, RAW= 321.9,  -6.1, CAL= 325.2,  -8.4, ROT= 184.8,   8.4

2025-06-05T16:56:09.651Z,1749142569.651 [DAT](INFO): got valid direction response:
 16:56:08.4666 LVL= 31600, 28657, 25234, 32755, AGC= 68, IDX= 506, 0.11,-1.484, 0.484,-1.101,-0.839, PHS=-0.557, 1.370,-0.265, RAW= 321.9,  -6.1, CAL= 325.2,  -8.4, ROT= 184.8,   8.4

2025-06-05T16:56:09.652Z,1749142569.652 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-06-05T16:56:09.661Z,1749142569.661 [DAT](INFO): direction in FSK: [-0.985803,-0.082780,-0.146083]
2025-06-05T16:56:09.667Z,1749142569.667 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:09.699Z,1749142569.699 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.528576
2025-06-05T16:56:09.815Z,1749142569.815 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.644407
2025-06-05T16:56:09.909Z,1749142569.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.510010 s,
      deltaX: 0.799999 m,
      approachRate: 1.568595 m/s,
      rangeRepo size: 4

2025-06-05T16:56:09.923Z,1749142569.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.165045 m,
      bearing: 139.076440 deg,
      lat: 36.906272 deg,
      lon: -122.115929 deg,
      deltaT: 0.510010 s,
      deltaX: 0.793381 m,
      approachRate: 1.555618 m/s,
      posRepo size: 4

2025-06-05T16:56:09.923Z,1749142569.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.17 m.
2025-06-05T16:56:10.071Z,1749142570.071 [DAT](INFO): DAT read: Rx Time:16:56:08.9668 

2025-06-05T16:56:10.072Z,1749142570.072 [DAT](INFO): Rx dataTimestamp_ set to:1749142570.071192
2025-06-05T16:56:10.075Z,1749142570.075 [DAT](INFO): DAT read: Bearing 184.2,   8.7 (Local)

2025-06-05T16:56:10.076Z,1749142570.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.2,   8.7 (Local)

2025-06-05T16:56:10.083Z,1749142570.083 [DAT](INFO): DAT read: Range 10 to 50 :    28.7 m (trip time 19.1 ms) speed -0.5

2025-06-05T16:56:10.085Z,1749142570.085 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-06-05T16:56:10.103Z,1749142570.103 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.932487
2025-06-05T16:56:10.258Z,1749142570.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 0.498748 s,
      deltaX: 0.300001 m,
      approachRate: 0.601508 m/s,
      rangeRepo size: 4

2025-06-05T16:56:10.259Z,1749142570.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.17 m.
2025-06-05T16:56:10.326Z,1749142570.326 [DAT](INFO): DAT read: 16:56:08.9668 LVL= 28144, 24433, 26066, 32755, AGC= 68, IDX= 508, 0.08, 2.824,-1.524,-3.102,-2.837, PHS=-0.534, 1.361,-0.268, RAW= 322.6,  -6.3, CAL= 325.8,  -8.7, ROT= 184.2,   8.7

2025-06-05T16:56:10.329Z,1749142570.329 [DAT](INFO): got valid direction response:
 16:56:08.9668 LVL= 28144, 24433, 26066, 32755, AGC= 68, IDX= 508, 0.08, 2.824,-1.524,-3.102,-2.837, PHS=-0.534, 1.361,-0.268, RAW= 322.6,  -6.3, CAL= 325.8,  -8.7, ROT= 184.2,   8.7

2025-06-05T16:56:10.329Z,1749142570.329 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-06-05T16:56:10.331Z,1749142570.331 [DAT](INFO): direction in FSK: [-0.985839,-0.072395,-0.151261]
2025-06-05T16:56:10.334Z,1749142570.334 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.163605
2025-06-05T16:56:10.573Z,1749142570.573 [DAT](INFO): DAT read: Rx Time:16:56:09.4673 

2025-06-05T16:56:10.574Z,1749142570.574 [DAT](INFO): Rx dataTimestamp_ set to:1749142570.573570
2025-06-05T16:56:10.576Z,1749142570.576 [DAT](INFO): DAT read: Range 10 to 50 :    29.4 m (trip time 19.6 ms) speed -0.5

2025-06-05T16:56:10.576Z,1749142570.576 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-06-05T16:56:10.577Z,1749142570.577 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.406298
2025-06-05T16:56:10.715Z,1749142570.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.400000 m,
      deltaT: 0.502378 s,
      deltaX: 0.699999 m,
      approachRate: 1.393371 m/s,
      rangeRepo size: 4

2025-06-05T16:56:10.717Z,1749142570.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.156782 m,
      bearing: 138.508826 deg,
      lat: 36.906273 deg,
      lon: -122.115929 deg,
      deltaT: 1.001126 s,
      deltaX: 0.991737 m,
      approachRate: 0.990622 m/s,
      posRepo size: 4

2025-06-05T16:56:10.722Z,1749142570.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.16 m.
2025-06-05T16:56:10.824Z,1749142570.824 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.652897
2025-06-05T16:56:11.079Z,1749142571.079 [DAT](INFO): DAT read: Rx Time:16:56:09.9675 

2025-06-05T16:56:11.081Z,1749142571.081 [DAT](INFO): Rx dataTimestamp_ set to:1749142571.079937
2025-06-05T16:56:11.084Z,1749142571.084 [DAT](INFO): DAT read: Bearing 185.2,   8.0 (Local)

2025-06-05T16:56:11.086Z,1749142571.086 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.2,   8.0 (Local)

2025-06-05T16:56:11.096Z,1749142571.096 [DAT](INFO): DAT read: Range 10 to 50 :    29.7 m (trip time 19.8 ms) speed -0.5

2025-06-05T16:56:11.122Z,1749142571.122 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-06-05T16:56:11.123Z,1749142571.123 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.952541
2025-06-05T16:56:11.263Z,1749142571.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.506367 s,
      deltaX: 0.300001 m,
      approachRate: 0.592458 m/s,
      rangeRepo size: 4

2025-06-05T16:56:11.263Z,1749142571.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.16 m.
2025-06-05T16:56:11.335Z,1749142571.335 [DAT](INFO): DAT read: 16:56:09.9675 LVL= 30784, 22385, 23954, 32755, AGC= 69, IDX=   3,-0.08,-2.929,-0.972,-2.536,-2.273, PHS=-0.568, 1.348,-0.266, RAW= 321.6,  -5.8, CAL= 324.8,  -8.0, ROT= 185.2,   8.0

2025-06-05T16:56:11.336Z,1749142571.336 [DAT](INFO): got valid direction response:
 16:56:09.9675 LVL= 30784, 22385, 23954, 32755, AGC= 69, IDX=   3,-0.08,-2.929,-0.972,-2.536,-2.273, PHS=-0.568, 1.348,-0.266, RAW= 321.6,  -5.8, CAL= 324.8,  -8.0, ROT= 185.2,   8.0

2025-06-05T16:56:11.337Z,1749142571.337 [DAT](INFO): #Rx 38: Read direction message, but no range.
2025-06-05T16:56:11.338Z,1749142571.338 [DAT](INFO): direction in FSK: [-0.986193,-0.089750,-0.139173]
2025-06-05T16:56:11.341Z,1749142571.341 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.170301
2025-06-05T16:56:11.583Z,1749142571.583 [DAT](INFO): DAT read: Rx Time:16:56:10.4678 

2025-06-05T16:56:11.585Z,1749142571.585 [DAT](INFO): Rx dataTimestamp_ set to:1749142571.583840
2025-06-05T16:56:11.588Z,1749142571.588 [DAT](INFO): DAT read: Bearing 184.9,   7.3 (Local)

2025-06-05T16:56:11.589Z,1749142571.589 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.9,   7.3 (Local)

2025-06-05T16:56:11.599Z,1749142571.599 [DAT](INFO): DAT read: Range 10 to 50 :    30.2 m (trip time 20.1 ms) speed -0.5

2025-06-05T16:56:11.601Z,1749142571.601 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-06-05T16:56:11.616Z,1749142571.616 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.445347
2025-06-05T16:56:11.827Z,1749142571.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 0.503903 s,
      deltaX: 0.500000 m,
      approachRate: 0.992254 m/s,
      rangeRepo size: 4

2025-06-05T16:56:11.830Z,1749142571.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.950201 m,
      bearing: 139.581675 deg,
      lat: 36.906273 deg,
      lon: -122.115928 deg,
      deltaT: 1.010270 s,
      deltaX: 0.793419 m,
      approachRate: 0.785353 m/s,
      posRepo size: 4

2025-06-05T16:56:11.839Z,1749142571.839 [DAT](INFO): DAT read: 16:56:10.4678 LVL= 26736, 24561, 21346, 32755, AGC= 67, IDX= 502,-0.20,-2.895,-0.898,-2.511,-2.217, PHS=-0.589, 1.366,-0.297, RAW= 322.0,  -5.3, CAL= 325.1,  -7.3, ROT= 184.9,   7.3

2025-06-05T16:56:11.840Z,1749142571.840 [DAT](INFO): got valid direction response:
 16:56:10.4678 LVL= 26736, 24561, 21346, 32755, AGC= 67, IDX= 502,-0.20,-2.895,-0.898,-2.511,-2.217, PHS=-0.589, 1.366,-0.297, RAW= 322.0,  -5.3, CAL= 325.1,  -7.3, ROT= 184.9,   7.3

2025-06-05T16:56:11.841Z,1749142571.841 [DAT](INFO): #Rx 40: Read direction message, but no range.
2025-06-05T16:56:11.842Z,1749142571.842 [DAT](INFO): direction in FSK: [-0.988269,-0.084725,-0.127065]
2025-06-05T16:56:11.845Z,1749142571.845 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.674047
2025-06-05T16:56:11.850Z,1749142571.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.95 m.
2025-06-05T16:56:12.087Z,1749142572.087 [DAT](INFO): DAT read: Rx Time:16:56:10.9680 

2025-06-05T16:56:12.088Z,1749142572.088 [DAT](INFO): Rx dataTimestamp_ set to:1749142572.087489
2025-06-05T16:56:12.092Z,1749142572.092 [DAT](INFO): DAT read: Bearing 185.6,   6.0 (Local)

2025-06-05T16:56:12.093Z,1749142572.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.6,   6.0 (Local)

2025-06-05T16:56:12.118Z,1749142572.118 [DAT](INFO): DAT read: Range 10 to 50 :    30.5 m (trip time 20.3 ms) speed -0.4

2025-06-05T16:56:12.132Z,1749142572.132 [DAT](INFO): DAT read: 16:56:10.9680 LVL= 31904, 24129, 26194, 32755, AGC= 67, IDX= 504,-0.31, 2.230,-2.050, 2.635, 2.947, PHS=-0.628, 1.333,-0.315, RAW= 321.5,  -4.3, CAL= 324.4,  -6.0, ROT= 185.6,   6.0

2025-06-05T16:56:12.133Z,1749142572.133 [DAT](INFO): got valid direction response:
 16:56:10.9680 LVL= 31904, 24129, 26194, 32755, AGC= 67, IDX= 504,-0.31, 2.230,-2.050, 2.635, 2.947, PHS=-0.628, 1.333,-0.315, RAW= 321.5,  -4.3, CAL= 324.4,  -6.0, ROT= 185.6,   6.0

2025-06-05T16:56:12.133Z,1749142572.133 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-06-05T16:56:12.143Z,1749142572.143 [DAT](INFO): direction in FSK: [-0.989775,-0.097048,-0.104528]
2025-06-05T16:56:12.143Z,1749142572.143 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:12.152Z,1749142572.152 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.981201
2025-06-05T16:56:12.244Z,1749142572.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.500000 m,
      deltaT: 0.503649 s,
      deltaX: 0.299999 m,
      approachRate: 0.595651 m/s,
      rangeRepo size: 4

2025-06-05T16:56:12.254Z,1749142572.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.247913 m,
      bearing: 140.051394 deg,
      lat: 36.906273 deg,
      lon: -122.115928 deg,
      deltaT: 0.503649 s,
      deltaX: 0.297712 m,
      approachRate: 0.591111 m/s,
      posRepo size: 4

2025-06-05T16:56:12.255Z,1749142572.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.25 m.
2025-06-05T16:56:12.335Z,1749142572.335 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.164480
2025-06-05T16:56:12.591Z,1749142572.591 [DAT](INFO): DAT read: Rx Time:16:56:11.4684 

2025-06-05T16:56:12.593Z,1749142572.593 [DAT](INFO): Rx dataTimestamp_ set to:1749142572.591900
2025-06-05T16:56:12.596Z,1749142572.596 [DAT](INFO): DAT read: Bearing 186.3,   5.9 (Local)

2025-06-05T16:56:12.597Z,1749142572.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.3,   5.9 (Local)

2025-06-05T16:56:12.603Z,1749142572.603 [DAT](INFO): DAT read: Range 10 to 50 :    31.1 m (trip time 20.7 ms) speed -0.4

2025-06-05T16:56:12.604Z,1749142572.604 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-06-05T16:56:12.605Z,1749142572.605 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.434084
2025-06-05T16:56:12.721Z,1749142572.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.100000 m,
      deltaT: 0.504411 s,
      deltaX: 0.600000 m,
      approachRate: 1.189507 m/s,
      rangeRepo size: 4

2025-06-05T16:56:12.722Z,1749142572.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.25 m.
2025-06-05T16:56:12.847Z,1749142572.847 [DAT](INFO): DAT read: 16:56:11.4684 LVL= 23936, 21745, 20594, 30451, AGC= 66, IDX= 507, 0.39,-1.055, 0.958,-0.620,-0.323, PHS=-0.644, 1.328,-0.300, RAW= 320.6,  -4.3, CAL= 323.7,  -5.9, ROT= 186.3,   5.9

2025-06-05T16:56:12.848Z,1749142572.848 [DAT](INFO): got valid direction response:
 16:56:11.4684 LVL= 23936, 21745, 20594, 30451, AGC= 66, IDX= 507, 0.39,-1.055, 0.958,-0.620,-0.323, PHS=-0.644, 1.328,-0.300, RAW= 320.6,  -4.3, CAL= 323.7,  -5.9, ROT= 186.3,   5.9

2025-06-05T16:56:12.848Z,1749142572.848 [DAT](INFO): #Rx 43: Read direction message, but no range.
2025-06-05T16:56:12.849Z,1749142572.849 [DAT](INFO): direction in FSK: [-0.988696,-0.109153,-0.102793]
2025-06-05T16:56:12.857Z,1749142572.857 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.686092
2025-06-05T16:56:13.022Z,1749142573.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.25 m.
2025-06-05T16:56:13.095Z,1749142573.095 [DAT](INFO): DAT read: Rx Time:16:56:11.9686 

2025-06-05T16:56:13.096Z,1749142573.096 [DAT](INFO): Rx dataTimestamp_ set to:1749142573.095153
2025-06-05T16:56:13.103Z,1749142573.103 [DAT](INFO): DAT read: Bearing 185.1,   6.4 (Locge 10 to 50 :    31.2 m (trip time 20.8 ms) speed -0.7

2025-06-05T16:56:13.104Z,1749142573.104 [DAT](INFO): unknown deviceResponse_: Bearing 185.1,   6.4 (Locge 10 to 50 :    31.2 m (trip time 20.8 ms) speed -0.7

2025-06-05T16:56:13.105Z,1749142573.105 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.933786
2025-06-05T16:56:13.347Z,1749142573.347 [DAT](INFO): DAT read: 16:56:11.9686 LVL= 26016, 26097, 22258, 32755, AGC= 67, IDX= 509, 0.22,-2.194,-0.198,-1.808,-1.495, PHS=-0.612, 1.344,-0.316, RAW= 321.9,  -4.6, CAL= 324.9,  -6.4, ROT= 185.1,   6.4

2025-06-05T16:56:13.349Z,1749142573.349 [DAT](INFO): got valid direction response:
 16:56:11.9686 LVL= 26016, 26097, 22258, 32755, AGC= 67, IDX= 509, 0.22,-2.194,-0.198,-1.808,-1.495, PHS=-0.612, 1.344,-0.316, RAW= 321.9,  -4.6, CAL= 324.9,  -6.4, ROT= 185.1,   6.4

2025-06-05T16:56:13.349Z,1749142573.349 [DAT](INFO): #Rx 44: Read direction message, but no range.
2025-06-05T16:56:13.351Z,1749142573.351 [DAT](INFO): direction in FSK: [-0.989834,-0.088341,-0.111469]
2025-06-05T16:56:13.354Z,1749142573.354 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.183062
2025-06-05T16:56:13.449Z,1749142573.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.25 m.
2025-06-05T16:56:13.600Z,1749142573.600 [DAT](INFO): DAT read: Rx Time:16:56:12.4689 

2025-06-05T16:56:13.601Z,1749142573.601 [DAT](INFO): Rx dataTimestamp_ set to:1749142573.600432
2025-06-05T16:56:13.604Z,1749142573.604 [DAT](INFO): DAT read: Bearing 184.1,   2.5 (Local)

2025-06-05T16:56:13.604Z,1749142573.604 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.1,   2.5 (Local)

2025-06-05T16:56:13.606Z,1749142573.606 [DAT](INFO): DAT read: Range 10 to 50 :    31.7 m (trip time 21.1 ms) speed -0.8

2025-06-05T16:56:13.607Z,1749142573.607 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-06-05T16:56:13.608Z,1749142573.608 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.437006
2025-06-05T16:56:13.851Z,1749142573.851 [DAT](INFO): DAT read: 16:56:12.4689 LVL= 26576, 25681, 21682, 32755, AGC= 69, IDX= 513, 0.02, 0.398, 2.656, 0.763, 1.259, PHS=-0.773, 1.444,-0.499, RAW= 323.5,  -1.7, CAL= 325.9,  -2.5, ROT= 184.1,   2.5

2025-06-05T16:56:13.852Z,1749142573.852 [DAT](INFO): got valid direction response:
 16:56:12.4689 LVL= 26576, 25681, 21682, 32755, AGC= 69, IDX= 513, 0.02, 0.398, 2.656, 0.763, 1.259, PHS=-0.773, 1.444,-0.499, RAW= 323.5,  -1.7, CAL= 325.9,  -2.5, ROT= 184.1,   2.5

2025-06-05T16:56:13.852Z,1749142573.852 [DAT](INFO): #Rx 46: Read direction message, but no range.
2025-06-05T16:56:13.853Z,1749142573.853 [DAT](INFO): direction in FSK: [-0.996491,-0.071429,-0.043619]
2025-06-05T16:56:13.856Z,1749142573.856 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.685312
2025-06-05T16:56:14.033Z,1749142574.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.700001 m,
      deltaT: 1.008532 s,
      deltaX: 0.600000 m,
      approachRate: 0.594925 m/s,
      rangeRepo size: 4

2025-06-05T16:56:14.035Z,1749142574.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.438477 m,
      bearing: 138.832775 deg,
      lat: 36.906273 deg,
      lon: -122.115928 deg,
      deltaT: 1.512943 s,
      deltaX: 1.190563 m,
      approachRate: 0.786919 m/s,
      posRepo size: 4

2025-06-05T16:56:14.036Z,1749142574.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.44 m.
2025-06-05T16:56:14.103Z,1749142574.103 [DAT](INFO): DAT read: Rx Time:16:56:12.9691 

2025-06-05T16:56:14.104Z,1749142574.104 [DAT](INFO): Rx dataTimestamp_ set to:1749142574.103261
2025-06-05T16:56:14.105Z,1749142574.105 [DAT](INFO): DAT read: Bearing 185.9,   6.2 (Local)

2025-06-05T16:56:14.106Z,1749142574.106 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.9,   6.2 (Local)

2025-06-05T16:56:14.109Z,1749142574.109 [DAT](INFO): DAT read: Range 10 to 50 :    32.0 m (trip time 21.3 ms) speed -0.7

2025-06-05T16:56:14.129Z,1749142574.129 [DAT](INFO): DAT read: 16:56:12.9691 LVL= 30272, 29457, 25282, 32755, AGC= 68, IDX= 499,-0.22,-3.006,-1.015,-2.590,-2.293, PHS=-0.625, 1.325,-0.300, RAW= 321.0,  -4.5, CAL= 324.1,  -6.2, ROT= 185.9,   6.2

2025-06-05T16:56:14.135Z,1749142574.135 [DAT](INFO): got valid direction response:
 16:56:12.9691 LVL= 30272, 29457, 25282, 32755, AGC= 68, IDX= 499,-0.22,-3.006,-1.015,-2.590,-2.293, PHS=-0.625, 1.325,-0.300, RAW= 321.0,  -4.5, CAL= 324.1,  -6.2, ROT= 185.9,   6.2

2025-06-05T16:56:14.135Z,1749142574.135 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-05T16:56:14.136Z,1749142574.136 [DAT](INFO): direction in FSK: [-0.988885,-0.102191,-0.107999]
2025-06-05T16:56:14.137Z,1749142574.137 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:14.146Z,1749142574.146 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.974756
2025-06-05T16:56:14.352Z,1749142574.352 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.180676
2025-06-05T16:56:14.417Z,1749142574.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.000000 m,
      deltaT: 0.502829 s,
      deltaX: 0.299999 m,
      approachRate: 0.596623 m/s,
      rangeRepo size: 4

2025-06-05T16:56:14.423Z,1749142574.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.736000 m,
      bearing: 140.508674 deg,
      lat: 36.906271 deg,
      lon: -122.115928 deg,
      deltaT: 0.502829 s,
      deltaX: 0.297523 m,
      approachRate: 0.591699 m/s,
      posRepo size: 4

2025-06-05T16:56:14.424Z,1749142574.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.74 m.
2025-06-05T16:56:14.605Z,1749142574.605 [DAT](INFO): DAT read: Rx Time:16:56:13.4695 

2025-06-05T16:56:14.606Z,1749142574.606 [DAT](INFO): Rx dataTimestamp_ set to:1749142574.605319
2025-06-05T16:56:14.607Z,1749142574.607 [DAT](INFO): DAT read: Bearing 185.4,   7.4 (Local)

2025-06-05T16:56:14.607Z,1749142574.607 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.4,   7.4 (Local)

2025-06-05T16:56:14.609Z,1749142574.609 [DAT](INFO): DAT read: Range 10 to 50 :    32.6 m (trip time 21.7 ms) speed -0.5

2025-06-05T16:56:14.610Z,1749142574.610 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-06-05T16:56:14.611Z,1749142574.611 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.440435
2025-06-05T16:56:14.859Z,1749142574.859 [DAT](INFO): DAT read: 16:56:13.4695 LVL= 31200, 27457, 24562, 32755, AGC= 68, IDX= 503,-0.46,-1.741, 0.257,-1.337,-1.058, PHS=-0.595, 1.362,-0.283, RAW= 321.5,  -5.4, CAL= 324.6,  -7.4, ROT= 185.4,   7.4

2025-06-05T16:56:14.860Z,1749142574.860 [DAT](INFO): got valid direction response:
 16:56:13.4695 LVL= 31200, 27457, 24562, 32755, AGC= 68, IDX= 503,-0.46,-1.741, 0.257,-1.337,-1.058, PHS=-0.595, 1.362,-0.283, RAW= 321.5,  -5.4, CAL= 324.6,  -7.4, ROT= 185.4,   7.4

2025-06-05T16:56:14.860Z,1749142574.860 [DAT](INFO): #Rx 49: Read direction message, but no range.
2025-06-05T16:56:14.861Z,1749142574.861 [DAT](INFO): direction in FSK: [-0.987270,-0.093324,-0.128796]
2025-06-05T16:56:14.865Z,1749142574.865 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.693722
2025-06-05T16:56:14.920Z,1749142574.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.599998 m,
      deltaT: 0.502058 s,
      deltaX: 0.599998 m,
      approachRate: 1.195078 m/s,
      rangeRepo size: 4

2025-06-05T16:56:14.922Z,1749142574.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.331047 m,
      bearing: 140.090853 deg,
      lat: 36.906270 deg,
      lon: -122.115929 deg,
      deltaT: 0.502058 s,
      deltaX: 0.595047 m,
      approachRate: 1.185216 m/s,
      posRepo size: 4

2025-06-05T16:56:14.923Z,1749142574.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.33 m.
2025-06-05T16:56:15.108Z,1749142575.108 [DAT](INFO): DAT read: Rx Time:16:56:13.9696 

2025-06-05T16:56:15.108Z,1749142575.108 [DAT](INFO): Rx dataTimestamp_ set to:1749142575.108050
2025-06-05T16:56:15.110Z,1749142575.110 [DAT](INFO): DAT read: Bearing 185.8,   6.5 (Local)

2025-06-05T16:56:15.110Z,1749142575.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.8,   6.5 (Local)

2025-06-05T16:56:15.112Z,1749142575.112 [DAT](INFO): DAT read: Range 10 to 50 :    32.7 m (trip time 21.8 ms) speed -0.1

2025-06-05T16:56:15.118Z,1749142575.118 [DAT](INFO): DAT read: 16:56:13.9696 LVL= 31648, 30561, 28818, 32755, AGC= 66, IDX= 504, 0.17,-1.048, 0.953,-0.633,-0.340, PHS=-0.620, 1.339,-0.296, RAW= 321.1,  -4.7, CAL= 324.2,  -6.5, ROT= 185.8,   6.5

2025-06-05T16:56:15.119Z,1749142575.119 [DAT](INFO): got valid direction response:
 16:56:13.9696 LVL= 31648, 30561, 28818, 32755, AGC= 66, IDX= 504, 0.17,-1.048, 0.953,-0.633,-0.340, PHS=-0.620, 1.339,-0.296, RAW= 321.1,  -4.7, CAL= 324.2,  -6.5, ROT= 185.8,   6.5

2025-06-05T16:56:15.119Z,1749142575.119 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-06-05T16:56:15.120Z,1749142575.120 [DAT](INFO): direction in FSK: [-0.988485,-0.100407,-0.113203]
2025-06-05T16:56:15.121Z,1749142575.121 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:15.124Z,1749142575.124 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.953436
2025-06-05T16:56:15.334Z,1749142575.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.700001 m,
      deltaT: 0.502731 s,
      deltaX: 0.100002 m,
      approachRate: 0.198918 m/s,
      rangeRepo size: 4

2025-06-05T16:56:15.344Z,1749142575.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.430450 m,
      bearing: 140.539742 deg,
      lat: 36.906269 deg,
      lon: -122.115931 deg,
      deltaT: 0.502731 s,
      deltaX: 0.099403 m,
      approachRate: 0.197727 m/s,
      posRepo size: 4

2025-06-05T16:56:15.345Z,1749142575.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.43 m.
2025-06-05T16:56:15.359Z,1749142575.359 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.188280
2025-06-05T16:56:15.612Z,1749142575.612 [DAT](INFO): DAT read: Rx Time:16:56:14.4701 

2025-06-05T16:56:15.612Z,1749142575.612 [DAT](INFO): Rx dataTimestamp_ set to:1749142575.612163
2025-06-05T16:56:15.615Z,1749142575.615 [DAT](INFO): DAT read: Bearing 186.2,   5.3 (Local)

2025-06-05T16:56:15.615Z,1749142575.615 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.2,   5.3 (Local)

2025-06-05T16:56:15.617Z,1749142575.617 [DAT](INFO): DAT read: Range 10 to 50 :    33.5 m (trip time 22.3 ms) speed -0.6

2025-06-05T16:56:15.622Z,1749142575.622 [DAT](INFO): DAT read: 16:56:14.4701 LVL= 32752, 32753, 31282, 32755, AGC= 63, IDX= 507, 0.21, 1.185,-3.016, 1.624, 1.951, PHS=-0.678, 1.363,-0.330, RAW= 320.8,  -3.8, CAL= 323.8,  -5.3, ROT= 186.2,   5.3

2025-06-05T16:56:15.623Z,1749142575.623 [DAT](INFO): got valid direction response:
 16:56:14.4701 LVL= 32752, 32753, 31282, 32755, AGC= 63, IDX= 507, 0.21, 1.185,-3.016, 1.624, 1.951, PHS=-0.678, 1.363,-0.330, RAW= 320.8,  -3.8, CAL= 323.8,  -5.3, ROT= 186.2,   5.3

2025-06-05T16:56:15.623Z,1749142575.623 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-06-05T16:56:15.624Z,1749142575.624 [DAT](INFO): direction in FSK: [-0.989901,-0.107538,-0.092371]
2025-06-05T16:56:15.625Z,1749142575.625 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:15.628Z,1749142575.628 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.457333
2025-06-05T16:56:15.787Z,1749142575.787 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:56:15.812Z,1749142575.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.500000 m,
      deltaT: 0.504113 s,
      deltaX: 0.799999 m,
      approachRate: 1.586944 m/s,
      rangeRepo size: 4

2025-06-05T16:56:15.818Z,1749142575.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.223858 m,
      bearing: 141.102917 deg,
      lat: 36.906269 deg,
      lon: -122.115934 deg,
      deltaT: 0.504113 s,
      deltaX: 0.793407 m,
      approachRate: 1.573868 m/s,
      posRepo size: 4

2025-06-05T16:56:15.819Z,1749142575.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.22 m.
2025-06-05T16:56:15.864Z,1749142575.864 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.693087
2025-06-05T16:56:16.117Z,1749142576.117 [DAT](INFO): DAT read: Rx Time:16:56:14.9702 

2025-06-05T16:56:16.118Z,1749142576.118 [DAT](INFO): Rx dataTimestamp_ set to:1749142576.117224
2025-06-05T16:56:16.119Z,1749142576.119 [DAT](INFO): DAT read: Bearing 185.9,   5.2 (Local)

2025-06-05T16:56:16.119Z,1749142576.119 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.9,   5.2 (Local)

2025-06-05T16:56:16.121Z,1749142576.121 [DAT](INFO): DAT read: Range 10 to 50 :    33.6 m (trip time 22.4 ms) speed -0.5

2025-06-05T16:56:16.126Z,1749142576.126 [DAT](INFO): DAT read: 16:56:14.9702 LVL= 32752, 32593, 30850, 32755, AGC= 70, IDX= 509, 0.01,-0.702, 1.391,-0.273, 0.066, PHS=-0.680, 1.372,-0.342, RAW= 321.2,  -3.7, CAL= 324.1,  -5.2, ROT= 185.9,   5.2

2025-06-05T16:56:16.127Z,1749142576.127 [DAT](INFO): got valid direction response:
 16:56:14.9702 LVL= 32752, 32593, 30850, 32755, AGC= 70, IDX= 509, 0.01,-0.702, 1.391,-0.273, 0.066, PHS=-0.680, 1.372,-0.342, RAW= 321.2,  -3.7, CAL= 324.1,  -5.2, ROT= 185.9,   5.2

2025-06-05T16:56:16.128Z,1749142576.128 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-05T16:56:16.129Z,1749142576.129 [DAT](INFO): direction in FSK: [-0.990609,-0.102369,-0.090633]
2025-06-05T16:56:16.129Z,1749142576.129 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:16.134Z,1749142576.134 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.962744
2025-06-05T16:56:16.292Z,1749142576.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.599998 m,
      deltaT: 0.505061 s,
      deltaX: 0.099998 m,
      approachRate: 0.197993 m/s,
      rangeRepo size: 4

2025-06-05T16:56:16.300Z,1749142576.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.323143 m,
      bearing: 140.805280 deg,
      lat: 36.906269 deg,
      lon: -122.115934 deg,
      deltaT: 0.505061 s,
      deltaX: 0.099285 m,
      approachRate: 0.196580 m/s,
      posRepo size: 4

2025-06-05T16:56:16.300Z,1749142576.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.32 m.
2025-06-05T16:56:16.368Z,1749142576.368 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.196865
2025-06-05T16:56:16.620Z,1749142576.620 [DAT](INFO): DAT read: Rx Time:16:56:15.4706 

2025-06-05T16:56:16.620Z,1749142576.620 [DAT](INFO): Rx dataTimestamp_ set to:1749142576.620013
2025-06-05T16:56:16.622Z,1749142576.622 [DAT](INFO): DAT read: Bearing 199.4,   6.8 (Local)

2025-06-05T16:56:16.622Z,1749142576.622 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.4,   6.8 (Local)

2025-06-05T16:56:16.624Z,1749142576.624 [DAT](INFO): DAT read: Range 10 to 50 :    34.2 m (trip time 22.8 ms) speed -0.4

2025-06-05T16:56:16.629Z,1749142576.629 [DAT](INFO): DAT read: 16:56:15.4706 LVL= 25872, 26513, 24050, 32755, AGC= 67, IDX= 512, 0.43, 0.332, 2.208, 1.152, 1.145, PHS=-0.725, 1.110, 0.003, RAW= 306.8,  -4.9, CAL= 310.6,  -6.8, ROT= 199.4,   6.8

2025-06-05T16:56:16.630Z,1749142576.630 [DAT](INFO): got valid direction response:
 16:56:15.4706 LVL= 25872, 26513, 24050, 32755, AGC= 67, IDX= 512, 0.43, 0.332, 2.208, 1.152, 1.145, PHS=-0.725, 1.110, 0.003, RAW= 306.8,  -4.9, CAL= 310.6,  -6.8, ROT= 199.4,   6.8

2025-06-05T16:56:16.634Z,1749142576.634 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-05T16:56:16.635Z,1749142576.635 [DAT](INFO): direction in FSK: [-0.936588,-0.329824,-0.118404]
2025-06-05T16:56:16.636Z,1749142576.636 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:16.643Z,1749142576.643 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.472492
2025-06-05T16:56:16.789Z,1749142576.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.200001 m,
      deltaT: 0.502789 s,
      deltaX: 0.600002 m,
      approachRate: 1.193348 m/s,
      rangeRepo size: 4

2025-06-05T16:56:16.804Z,1749142576.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.918201 m,
      bearing: 154.424449 deg,
      lat: 36.906267 deg,
      lon: -122.115935 deg,
      deltaT: 0.502789 s,
      deltaX: 0.595058 m,
      approachRate: 1.183515 m/s,
      posRepo size: 4

2025-06-05T16:56:16.804Z,1749142576.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.92 m.
2025-06-05T16:56:16.873Z,1749142576.873 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.701895
2025-06-05T16:56:17.124Z,1749142577.124 [DAT](INFO): DAT read: Rx Time:16:56:15.9707 

2025-06-05T16:56:17.124Z,1749142577.124 [DAT](INFO): Rx dataTimestamp_ set to:1749142577.124148
2025-06-05T16:56:17.126Z,1749142577.126 [DAT](INFO): DAT read: Bearing 185.2,   7.0 (Local)

2025-06-05T16:56:17.127Z,1749142577.127 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.2,   7.0 (Local)

2025-06-05T16:56:17.129Z,1749142577.129 [DAT](INFO): DAT read: Range 10 to 50 :    34.4 m (trip time 22.9 ms) speed -0.4

2025-06-05T16:56:17.135Z,1749142577.135 [DAT](INFO): DAT read: 16:56:15.9707 LVL= 26352, 26609, 23762, 32755, AGC= 67, IDX=   2, 0.03,-0.998, 1.021,-0.602,-0.304, PHS=-0.606, 1.372,-0.301, RAW= 321.8,  -5.1, CAL= 324.8,  -7.0, ROT= 185.2,   7.0

2025-06-05T16:56:17.136Z,1749142577.136 [DAT](INFO): got valid direction response:
 16:56:15.9707 LVL= 26352, 26609, 23762, 32755, AGC= 67, IDX=   2, 0.03,-0.998, 1.021,-0.602,-0.304, PHS=-0.606, 1.372,-0.301, RAW= 321.8,  -5.1, CAL= 324.8,  -7.0, ROT= 185.2,   7.0

2025-06-05T16:56:17.136Z,1749142577.136 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-05T16:56:17.137Z,1749142577.137 [DAT](INFO): direction in FSK: [-0.988461,-0.089957,-0.121869]
2025-06-05T16:56:17.137Z,1749142577.137 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:17.141Z,1749142577.141 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.970245
2025-06-05T16:56:17.279Z,1749142577.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.400002 m,
      deltaT: 0.504135 s,
      deltaX: 0.200001 m,
      approachRate: 0.396721 m/s,
      rangeRepo size: 4

2025-06-05T16:56:17.306Z,1749142577.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.116653 m,
      bearing: 140.188389 deg,
      lat: 36.906267 deg,
      lon: -122.115935 deg,
      deltaT: 0.504135 s,
      deltaX: 0.198452 m,
      approachRate: 0.393649 m/s,
      posRepo size: 4

2025-06-05T16:56:17.307Z,1749142577.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.12 m.
2025-06-05T16:56:17.375Z,1749142577.375 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.204348
2025-06-05T16:56:17.628Z,1749142577.628 [DAT](INFO): DAT read: Rx Time:16:56:16.4710 

2025-06-05T16:56:17.629Z,1749142577.629 [DAT](INFO): Rx dataTimestamp_ set to:1749142577.627970
2025-06-05T16:56:17.634Z,1749142577.634 [DAT](INFO): DAT read: Bearing 184.7,   7.0 (Local)

2025-06-05T16:56:17.634Z,1749142577.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.7,   7.0 (Local)

2025-06-05T16:56:17.636Z,1749142577.636 [DAT](INFO): DAT read: Range 10 to 50 :    35.0 m (trip time 23.3 ms) speed -0.3

2025-06-05T16:56:17.641Z,1749142577.641 [DAT](INFO): DAT read: 16:56:16.4710 LVL= 23536, 28465, 23954, 32755, AGC= 67, IDX= 502,-0.19,-0.372, 1.631, 0.006, 0.311, PHS=-0.595, 1.366,-0.308, RAW= 322.2,  -5.1, CAL= 325.3,  -7.0, ROT= 184.7,   7.0

2025-06-05T16:56:17.642Z,1749142577.642 [DAT](INFO): got valid direction response:
 16:56:16.4710 LVL= 23536, 28465, 23954, 32755, AGC= 67, IDX= 502,-0.19,-0.372, 1.631, 0.006, 0.311, PHS=-0.595, 1.366,-0.308, RAW= 322.2,  -5.1, CAL= 325.3,  -7.0, ROT= 184.7,   7.0

2025-06-05T16:56:17.643Z,1749142577.643 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-05T16:56:17.644Z,1749142577.644 [DAT](INFO): direction in FSK: [-0.989209,-0.081328,-0.121869]
2025-06-05T16:56:17.644Z,1749142577.644 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:17.649Z,1749142577.649 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.478542
2025-06-05T16:56:17.746Z,1749142577.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.000000 m,
      deltaT: 0.503822 s,
      deltaX: 0.599998 m,
      approachRate: 1.190894 m/s,
      rangeRepo size: 4

2025-06-05T16:56:17.800Z,1749142577.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.711708 m,
      bearing: 139.788029 deg,
      lat: 36.906267 deg,
      lon: -122.115934 deg,
      deltaT: 0.503822 s,
      deltaX: 0.595055 m,
      approachRate: 1.181081 m/s,
      posRepo size: 4

2025-06-05T16:56:17.802Z,1749142577.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.71 m.
2025-06-05T16:56:17.881Z,1749142577.881 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.709505
2025-06-05T16:56:18.133Z,1749142578.133 [DAT](INFO): DAT read: Rx Time:16:56:16.9712 

2025-06-05T16:56:18.133Z,1749142578.133 [DAT](INFO): Rx dataTimestamp_ set to:1749142578.133059
2025-06-05T16:56:18.135Z,1749142578.135 [DAT](INFO): DAT read: Bearing 185.0,   6.1 (Local)

2025-06-05T16:56:18.135Z,1749142578.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.0,   6.1 (Local)

2025-06-05T16:56:18.141Z,1749142578.141 [DAT](INFO): DAT read: Range 1:    35.3 m (trip time 23.5 ms) speed -56:16.9712 LVL= 30704, 30353, 23282, 32755, AGC= 68, IDX= 504,-0.45,-1.416, 0.616,-1.026,-0.701, PHS=-0.627, 1.364,-0.329, RAW= 322.0,  -4.4, CAL= 325.0,  -6.1, ROT= 185.0,   6.1

2025-06-05T16:56:18.141Z,1749142578.141 [DAT](INFO): unknown deviceResponse_: Range 1:    35.3 m (trip time 23.5 ms) speed -56:16.9712 LVL= 30704, 30353, 23282, 32755, AGC= 68, IDX= 504,-0.45,-1.416, 0.616,-1.026,-0.701, PHS=-0.627, 1.364,-0.329, RAW= 322.0,  -4.4, CAL= 325.0,  -6.1, ROT= 185.0,   6.1

2025-06-05T16:56:18.142Z,1749142578.142 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.971071
2025-06-05T16:56:18.265Z,1749142578.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.71 m.
2025-06-05T16:56:18.383Z,1749142578.383 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.212658
2025-06-05T16:56:18.614Z,1749142578.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.71 m.
2025-06-05T16:56:18.636Z,1749142578.636 [DAT](INFO): DAT read: Rx Time:16:56:17.4716 

2025-06-05T16:56:18.636Z,1749142578.636 [DAT](INFO): Rx dataTimestamp_ set to:1749142578.635991
2025-06-05T16:56:18.638Z,1749142578.638 [DAT](INFO): DAT read: Bearing 184.9,   6.1 (Local)

2025-06-05T16:56:18.638Z,1749142578.638 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.9,   6.1 (Local)

2025-06-05T16:56:18.640Z,1749142578.640 [DAT](INFO): DAT read: Range 10 to 50 :    35.9 m (trip time 23.9 ms) speed -0.4

2025-06-05T16:56:18.645Z,1749142578.645 [DAT](INFO): DAT read: 16:56:17.4716 LVL= 27168, 23969, 22626, 32755, AGC= 66, IDX= 507, 0.24, 1.374,-2.787, 1.773, 2.119, PHS=-0.657, 1.425,-0.348, RAW= 322.1,  -4.4, CAL= 325.1,  -6.1, ROT= 184.9,   6.1

2025-06-05T16:56:18.646Z,1749142578.646 [DAT](INFO): got valid direction response:
 16:56:17.4716 LVL= 27168, 23969, 22626, 32755, AGC= 66, IDX= 507, 0.24, 1.374,-2.787, 1.773, 2.119, PHS=-0.657, 1.425,-0.348, RAW= 322.1,  -4.4, CAL= 325.1,  -6.1, ROT= 184.9,   6.1

2025-06-05T16:56:18.646Z,1749142578.646 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-06-05T16:56:18.648Z,1749142578.648 [DAT](INFO): direction in FSK: [-0.990704,-0.084933,-0.106264]
2025-06-05T16:56:18.649Z,1749142578.649 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:18.660Z,1749142578.660 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.489489
2025-06-05T16:56:18.887Z,1749142578.887 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.716427
2025-06-05T16:56:19.021Z,1749142579.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.900002 m,
      deltaT: 1.008021 s,
      deltaX: 0.900002 m,
      approachRate: 0.892840 m/s,
      rangeRepo size: 4

2025-06-05T16:56:19.035Z,1749142579.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.604340 m,
      bearing: 140.045855 deg,
      lat: 36.906269 deg,
      lon: -122.115933 deg,
      deltaT: 1.008021 s,
      deltaX: 0.892632 m,
      approachRate: 0.885529 m/s,
      posRepo size: 4

2025-06-05T16:56:19.035Z,1749142579.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.60 m.
2025-06-05T16:56:19.140Z,1749142579.140 [DAT](INFO): DAT read: Rx Time:16:56:17.9717 

2025-06-05T16:56:19.140Z,1749142579.140 [DAT](INFO): Rx dataTimestamp_ set to:1749142579.140101
2025-06-05T16:56:19.142Z,1749142579.142 [DAT](INFO): DAT read: Bearing 184.4,   7.5 (Local)

2025-06-05T16:56:19.142Z,1749142579.142 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.4,   7.5 (Local)

2025-06-05T16:56:19.144Z,1749142579.144 [DAT](INFO): DAT read: Range 10 to 50 :    36.0 m (trip time 24.0 ms) speed -0.5

2025-06-05T16:56:19.150Z,1749142579.150 [DAT](INFO): DAT read: 16:56:17.9717 LVL= 28256, 27633, 22354, 32755, AGC= 68, IDX= 509, 0.14,-1.416, 0.627,-1.043,-0.736, PHS=-0.592, 1.410,-0.310, RAW= 322.5,  -5.5, CAL= 325.6,  -7.5, ROT= 184.4,   7.5

2025-06-05T16:56:19.151Z,1749142579.151 [DAT](INFO): got valid direction response:
 16:56:17.9717 LVL= 28256, 27633, 22354, 32755, AGC= 68, IDX= 509, 0.14,-1.416, 0.627,-1.043,-0.736, PHS=-0.592, 1.410,-0.310, RAW= 322.5,  -5.5, CAL= 325.6,  -7.5, ROT= 184.4,   7.5

2025-06-05T16:56:19.151Z,1749142579.151 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-06-05T16:56:19.152Z,1749142579.152 [DAT](INFO): direction in FSK: [-0.988523,-0.076063,-0.130526]
2025-06-05T16:56:19.152Z,1749142579.152 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:19.156Z,1749142579.156 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.985243
2025-06-05T16:56:19.391Z,1749142579.391 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.220407
2025-06-05T16:56:19.417Z,1749142579.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.000000 m,
      deltaT: 0.504110 s,
      deltaX: 0.099998 m,
      approachRate: 0.198366 m/s,
      rangeRepo size: 4

2025-06-05T16:56:19.424Z,1749142579.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.703400 m,
      bearing: 139.544714 deg,
      lat: 36.906269 deg,
      lon: -122.115931 deg,
      deltaT: 0.504110 s,
      deltaX: 0.099060 m,
      approachRate: 0.196505 m/s,
      posRepo size: 4

2025-06-05T16:56:19.424Z,1749142579.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.70 m.
2025-06-05T16:56:19.643Z,1749142579.643 [DAT](INFO): DAT read: Rx Time:16:56:18.4720 

2025-06-05T16:56:19.644Z,1749142579.644 [DAT](INFO): Rx dataTimestamp_ set to:1749142579.643477
2025-06-05T16:56:19.645Z,1749142579.645 [DAT](INFO): DAT read: Range 10 to 50 :    36.5 m (trip time 24.3 ms) speed -0.2

2025-06-05T16:56:19.646Z,1749142579.646 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-06-05T16:56:19.647Z,1749142579.647 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.475763
2025-06-05T16:56:19.863Z,1749142579.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.500000 m,
      deltaT: 0.503376 s,
      deltaX: 0.500000 m,
      approachRate: 0.993293 m/s,
      rangeRepo size: 4

2025-06-05T16:56:19.863Z,1749142579.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.70 m.
2025-06-05T16:56:19.895Z,1749142579.895 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.724436
2025-06-05T16:56:20.149Z,1749142580.149 [DAT](INFO): DAT read: Rx Time:16:56:18.9723 

2025-06-05T16:56:20.149Z,1749142580.149 [DAT](INFO): Rx dataTimestamp_ set to:1749142580.148824
2025-06-05T16:56:20.150Z,1749142580.150 [DAT](INFO): DAT read: Bearing 185.3,   6.2 (Local)

2025-06-05T16:56:20.151Z,1749142580.151 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.3,   6.2 (Local)

2025-06-05T16:56:20.153Z,1749142580.153 [DAT](INFO): DAT read: Range 10 to 50 :    36.9 m (trip time 24.6 ms) speed -0.7

2025-06-05T16:56:20.157Z,1749142580.157 [DAT](INFO): DAT read: 16:56:18.9723 LVL= 29104, 25393, 22706, 32755, AGC= 70, IDX=   2, 0.19,-1.302, 0.796,-0.890,-0.564, PHS=-0.651, 1.407,-0.329, RAW= 321.6,  -4.5, CAL= 324.7,  -6.2, ROT= 185.3,   6.2

2025-06-05T16:56:20.158Z,1749142580.158 [DAT](INFO): got valid direction response:
 16:56:18.9723 LVL= 29104, 25393, 22706, 32755, AGC= 70, IDX=   2, 0.19,-1.302, 0.796,-0.890,-0.564, PHS=-0.651, 1.407,-0.329, RAW= 321.6,  -4.5, CAL= 324.7,  -6.2, ROT= 185.3,   6.2

2025-06-05T16:56:20.159Z,1749142580.159 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-06-05T16:56:20.160Z,1749142580.160 [DAT](INFO): direction in FSK: [-0.989901,-0.091830,-0.107999]
2025-06-05T16:56:20.160Z,1749142580.160 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:20.163Z,1749142580.163 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.992485
2025-06-05T16:56:20.310Z,1749142580.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.900002 m,
      deltaT: 0.505347 s,
      deltaX: 0.400002 m,
      approachRate: 0.791538 m/s,
      rangeRepo size: 4

2025-06-05T16:56:20.320Z,1749142580.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.596062 m,
      bearing: 140.534978 deg,
      lat: 36.906269 deg,
      lon: -122.115931 deg,
      deltaT: 1.008723 s,
      deltaX: 0.892662 m,
      approachRate: 0.884943 m/s,
      posRepo size: 4

2025-06-05T16:56:20.321Z,1749142580.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-06-05T16:56:20.406Z,1749142580.406 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.234779
2025-06-05T16:56:20.622Z,1749142580.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-06-05T16:56:20.656Z,1749142580.656 [DAT](INFO): DAT read: Rx Time:16:56:19.4726 

2025-06-05T16:56:20.656Z,1749142580.656 [DAT](INFO): Rx dataTimestamp_ set to:1749142580.656165
2025-06-05T16:56:20.658Z,1749142580.658 [DAT](INFO): DAT read: Bearing 185.7,   5.6 (Local)

2025-06-05T16:56:20.659Z,1749142580.659 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.7,   5.6 (Local)

2025-06-05T16:56:20.661Z,1749142580.661 [DAT](INFO): DAT read: Range 10 to 50 :    37.4 m (trip time 24.9 ms) speed -0.5

2025-06-05T16:56:20.667Z,1749142580.667 [DAT](INFO): DAT read: 16:56:19.4726 LVL= 27104, 29553, 26386, 32755, AGC= 66, IDX= 502, 0.12,-0.646, 1.458,-0.221, 0.112, PHS=-0.671, 1.392,-0.336, RAW= 321.3,  -4.1, CAL= 324.3,  -5.6, ROT= 185.7,   5.6

2025-06-05T16:56:20.668Z,1749142580.668 [DAT](INFO): got valid direction response:
 16:56:19.4726 LVL= 27104, 29553, 26386, 32755, AGC= 66, IDX= 502, 0.12,-0.646, 1.458,-0.221, 0.112, PHS=-0.671, 1.392,-0.336, RAW= 321.3,  -4.1, CAL= 324.3,  -5.6, ROT= 185.7,   5.6

2025-06-05T16:56:20.669Z,1749142580.669 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-06-05T16:56:20.670Z,1749142580.670 [DAT](INFO): direction in FSK: [-0.990307,-0.098846,-0.097583]
2025-06-05T16:56:20.670Z,1749142580.670 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:20.673Z,1749142580.673 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.502455
2025-06-05T16:56:20.907Z,1749142580.907 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.736372
2025-06-05T16:56:21.024Z,1749142581.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.400002 m,
      deltaT: 0.507341 s,
      deltaX: 0.500000 m,
      approachRate: 0.985530 m/s,
      rangeRepo size: 4

2025-06-05T16:56:21.026Z,1749142581.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.091782 m,
      bearing: 140.964410 deg,
      lat: 36.906269 deg,
      lon: -122.115931 deg,
      deltaT: 0.507341 s,
      deltaX: 0.495720 m,
      approachRate: 0.977094 m/s,
      posRepo size: 4

2025-06-05T16:56:21.027Z,1749142581.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.09 m.
2025-06-05T16:56:21.161Z,1749142581.161 [DAT](INFO): DAT read: Rx Time:16:56:19.9728 

2025-06-05T16:56:21.162Z,1749142581.162 [DAT](INFO): Rx dataTimestamp_ set to:1749142581.161487
2025-06-05T16:56:21.164Z,1749142581.164 [DAT](INFO): DAT read: Bearing 185.8,   5.8 (Local)

2025-06-05T16:56:21.165Z,1749142581.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.8,   5.8 (Local)

2025-06-05T16:56:21.168Z,1749142581.168 [DAT](INFO): DAT read: Range 10 to 50 :    37.5 m (trip time 25.0 ms) speed -0.6

2025-06-05T16:56:21.172Z,1749142581.172 [DAT](INFO): DAT read: 16:56:19.9728 LVL= 26272, 32753, 22770, 32755, AGC= 67, IDX= 504,-0.06,-2.445,-0.361,-2.019,-1.695, PHS=-0.662, 1.382,-0.326, RAW= 321.2,  -4.2, CAL= 324.2,  -5.8, ROT= 185.8,   5.8

2025-06-05T16:56:21.173Z,1749142581.173 [DAT](INFO): got valid direction response:
 16:56:19.9728 LVL= 26272, 32753, 22770, 32755, AGC= 67, IDX= 504,-0.06,-2.445,-0.361,-2.019,-1.695, PHS=-0.662, 1.382,-0.326, RAW= 321.2,  -4.2, CAL= 324.2,  -5.8, ROT= 185.8,   5.8

2025-06-05T16:56:21.174Z,1749142581.174 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-06-05T16:56:21.175Z,1749142581.175 [DAT](INFO): direction in FSK: [-0.989788,-0.100539,-0.101056]
2025-06-05T16:56:21.175Z,1749142581.175 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:21.179Z,1749142581.179 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.007944
2025-06-05T16:56:21.411Z,1749142581.411 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.240416
2025-06-05T16:56:21.432Z,1749142581.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.500000 m,
      deltaT: 0.505322 s,
      deltaX: 0.099998 m,
      approachRate: 0.197891 m/s,
      rangeRepo size: 4

2025-06-05T16:56:21.439Z,1749142581.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.190956 m,
      bearing: 141.044907 deg,
      lat: 36.906269 deg,
      lon: -122.115934 deg,
      deltaT: 0.505322 s,
      deltaX: 0.099174 m,
      approachRate: 0.196260 m/s,
      posRepo size: 4

2025-06-05T16:56:21.439Z,1749142581.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.19 m.
2025-06-05T16:56:21.666Z,1749142581.666 [DAT](INFO): DAT read: Rx Time:16:56:20.4732 

2025-06-05T16:56:21.667Z,1749142581.667 [DAT](INFO): Rx dataTimestamp_ set to:1749142581.666394
2025-06-05T16:56:21.668Z,1749142581.668 [DAT](INFO): DAT read: Bearing 185.6,   6.9 (Local)

2025-06-05T16:56:21.668Z,1749142581.668 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.6,   6.9 (Local)

2025-06-05T16:56:21.670Z,1749142581.670 [DAT](INFO): DAT read: Range 10 to 50 :    38.1 m (trip time 25.4 ms) speed -0.4

2025-06-05T16:56:21.680Z,1749142581.680 [DAT](INFO): DAT read: 16:56:20.4732 LVL= 30944, 30177, 25378, 32755, AGC= 66, IDX= 508,-0.29, 0.933, 3.068, 1.365, 1.672, PHS=-0.652, 1.443,-0.310, RAW= 321.3,  -5.0, CAL= 324.4,  -6.9, ROT= 185.6,   6.9

2025-06-05T16:56:21.683Z,1749142581.683 [DAT](INFO): got valid direction response:
 16:56:20.4732 LVL= 30944, 30177, 25378, 32755, AGC= 66, IDX= 508,-0.29, 0.933, 3.068, 1.365, 1.672, PHS=-0.652, 1.443,-0.310, RAW= 321.3,  -5.0, CAL= 324.4,  -6.9, ROT= 185.6,   6.9

2025-06-05T16:56:21.683Z,1749142581.683 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-06-05T16:56:21.684Z,1749142581.684 [DAT](INFO): direction in FSK: [-0.988019,-0.096876,-0.120137]
2025-06-05T16:56:21.685Z,1749142581.685 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:21.689Z,1749142581.689 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.517864
2025-06-05T16:56:21.908Z,1749142581.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.099998 m,
      deltaT: 0.504907 s,
      deltaX: 0.599998 m,
      approachRate: 1.188335 m/s,
      rangeRepo size: 4

2025-06-05T16:56:21.915Z,1749142581.915 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.744381
2025-06-05T16:56:21.916Z,1749142581.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.786007 m,
      bearing: 140.794721 deg,
      lat: 36.906269 deg,
      lon: -122.115936 deg,
      deltaT: 0.504907 s,
      deltaX: 0.595051 m,
      approachRate: 1.178535 m/s,
      posRepo size: 4

2025-06-05T16:56:21.917Z,1749142581.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.79 m.
2025-06-05T16:56:22.168Z,1749142582.168 [DAT](INFO): DAT read: Rx Time:16:56:20.9734 

2025-06-05T16:56:22.168Z,1749142582.168 [DAT](INFO): Rx dataTimestamp_ set to:1749142582.167920
2025-06-05T16:56:22.169Z,1749142582.169 [DAT](INFO): DAT read: Bearing 185.9,   7.2 (Local)

2025-06-05T16:56:22.170Z,1749142582.170 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.9,   7.2 (Local)

2025-06-05T16:56:22.172Z,1749142582.172 [DAT](INFO): DAT read: Range 10 to 50 :    38.4 m (trip time 25.6 ms) speed -0.6

2025-06-05T16:56:22.201Z,1749142582.201 [DAT](INFO): DAT read: 16:56:20.9734 LVL= 26224, 26513, 21010, 32755, AGC= 68, IDX= 510,-0.28,-0.682, 1.426,-0.241, 0.047, PHS=-0.641, 1.425,-0.291, RAW= 320.9,  -5.2, CAL= 324.1,  -7.2, ROT= 185.9,   7.2

2025-06-05T16:56:22.202Z,1749142582.202 [DAT](INFO): got valid direction response:
 16:56:20.9734 LVL= 26224, 26513, 21010, 32755, AGC= 68, IDX= 510,-0.28,-0.682, 1.426,-0.241, 0.047, PHS=-0.641, 1.425,-0.291, RAW= 320.9,  -5.2, CAL= 324.1,  -7.2, ROT= 185.9,   7.2

2025-06-05T16:56:22.207Z,1749142582.207 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-06-05T16:56:22.208Z,1749142582.208 [DAT](INFO): direction in FSK: [-0.986859,-0.101982,-0.125333]
2025-06-05T16:56:22.208Z,1749142582.208 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:22.239Z,1749142582.239 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.068399
2025-06-05T16:56:22.389Z,1749142582.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.400002 m,
      deltaT: 0.501526 s,
      deltaX: 0.300003 m,
      approachRate: 0.598180 m/s,
      rangeRepo size: 4

2025-06-05T16:56:22.392Z,1749142582.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.082600 m,
      bearing: 141.088790 deg,
      lat: 36.906269 deg,
      lon: -122.115936 deg,
      deltaT: 0.501526 s,
      deltaX: 0.296593 m,
      approachRate: 0.591381 m/s,
      posRepo size: 4

2025-06-05T16:56:22.392Z,1749142582.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.08 m.
2025-06-05T16:56:22.419Z,1749142582.419 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.248407
2025-06-05T16:56:22.672Z,1749142582.672 [DAT](INFO): DAT read: Rx Time:16:56:21.4739 

2025-06-05T16:56:22.672Z,1749142582.672 [DAT](INFO): Rx dataTimestamp_ set to:1749142582.671874
2025-06-05T16:56:22.673Z,1749142582.673 [DAT](INFO): DAT read: Bearing 185.8,   7.0 (Local)

2025-06-05T16:56:22.674Z,1749142582.674 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.8,   7.0 (Local)

2025-06-05T16:56:22.676Z,1749142582.676 [DAT](INFO): DAT read: Range 10 to 50 :    39.2 m (trip time 26.1 ms) speed -0.7

2025-06-05T16:56:22.680Z,1749142582.680 [DAT](INFO): DAT read: 16:56:21.4739 LVL= 22000, 23905, 21490, 32755, AGC= 68, IDX=   2,-0.44, 1.960,-2.223, 2.394, 2.688, PHS=-0.640, 1.419,-0.297, RAW= 321.0,  -5.1, CAL= 324.2,  -7.0, ROT= 185.8,   7.0

2025-06-05T16:56:22.683Z,1749142582.683 [DAT](INFO): got valid direction response:
 16:56:21.4739 LVL= 22000, 23905, 21490, 32755, AGC= 68, IDX=   2,-0.44, 1.960,-2.223, 2.394, 2.688, PHS=-0.640, 1.419,-0.297, RAW= 321.0,  -5.1, CAL= 324.2,  -7.0, ROT= 185.8,   7.0

2025-06-05T16:56:22.683Z,1749142582.683 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-06-05T16:56:22.684Z,1749142582.684 [DAT](INFO): direction in FSK: [-0.987465,-0.100303,-0.121869]
2025-06-05T16:56:22.684Z,1749142582.684 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:22.688Z,1749142582.688 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.517181
2025-06-05T16:56:22.884Z,1749142582.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.200001 m,
      deltaT: 0.503954 s,
      deltaX: 0.799999 m,
      approachRate: 1.587445 m/s,
      rangeRepo size: 4

2025-06-05T16:56:22.890Z,1749142582.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.875988 m,
      bearing: 140.993261 deg,
      lat: 36.906269 deg,
      lon: -122.115936 deg,
      deltaT: 0.503954 s,
      deltaX: 0.793388 m,
      approachRate: 1.574327 m/s,
      posRepo size: 4

2025-06-05T16:56:22.891Z,1749142582.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.88 m.
2025-06-05T16:56:22.923Z,1749142582.923 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.752377
2025-06-05T16:56:23.176Z,1749142583.176 [DAT](INFO): DAT read: Rx Time:16:56:21.9741 

2025-06-05T16:56:23.176Z,1749142583.176 [DAT](INFO): Rx dataTimestamp_ set to:1749142583.175936
2025-06-05T16:56:23.177Z,1749142583.177 [DAT](INFO): DAT read: Bearing 186.1,   6.6 (Local)

2025-06-05T16:56:23.178Z,1749142583.178 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.1,   6.6 (Local)

2025-06-05T16:56:23.185Z,1749142583.185 [DAT](INFO): DAT read: Range 10 to 50 :    39.5 m (trip time 26.3 ms) speed -0.:21.9741 88, 26977, 21794, 32755, AGC= 68, IDX= 499, 0.48, 1.632,-2.496, 2.087, 2.391, PHS=-0.671, 1.444,-0.307, RAW= 320.7,  -4.8, CAL= 323.9,  -6.6, ROT= 186.1,   6.6

2025-06-05T16:56:23.186Z,1749142583.186 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-06-05T16:56:23.187Z,1749142583.187 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.015890
2025-06-05T16:56:23.354Z,1749142583.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.500000 m,
      deltaT: 0.504062 s,
      deltaX: 0.299999 m,
      approachRate: 0.595163 m/s,
      rangeRepo size: 4

2025-06-05T16:56:23.355Z,1749142583.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.88 m.
2025-06-05T16:56:23.429Z,1749142583.429 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.257309
2025-06-05T16:56:23.680Z,1749142583.680 [DAT](INFO): DAT read: Rx Time:16:56:22.4744 

2025-06-05T16:56:23.680Z,1749142583.680 [DAT](INFO): Rx dataTimestamp_ set to:1749142583.679836
2025-06-05T16:56:23.687Z,1749142583.687 [DAT](INFO): DAT read: Bearing 185.9,   6.9 (Local)

2025-06-05T16:56:23.687Z,1749142583.687 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.9,   6.9 (Local)

2025-06-05T16:56:23.689Z,1749142583.689 [DAT](INFO): DAT read: Range 10 to 50 :    39.9 m (trip time 26.6 ms) speed -0.5

2025-06-05T16:56:23.703Z,1749142583.703 [DAT](INFO): DAT read: 16:56:22.4744 LVL= 25008, 22913, 17394, 32755, AGC= 68, IDX= 503,-0.45,-0.023, 2.134, 0.423, 0.726, PHS=-0.661, 1.455,-0.306, RAW= 321.0,  -5.0, CAL= 324.1,  -6.9, ROT= 185.9,   6.9

2025-06-05T16:56:23.704Z,1749142583.704 [DAT](INFO): got valid direction response:
 16:56:22.4744 LVL= 25008, 22913, 17394, 32755, AGC= 68, IDX= 503,-0.45,-0.023, 2.134, 0.423, 0.726, PHS=-0.661, 1.455,-0.306, RAW= 321.0,  -5.0, CAL= 324.1,  -6.9, ROT= 185.9,   6.9

2025-06-05T16:56:23.704Z,1749142583.704 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-06-05T16:56:23.705Z,1749142583.705 [DAT](INFO): direction in FSK: [-0.987499,-0.102048,-0.120137]
2025-06-05T16:56:23.705Z,1749142583.705 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:23.709Z,1749142583.709 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.538036
2025-06-05T16:56:23.855Z,1749142583.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.900002 m,
      deltaT: 0.503900 s,
      deltaX: 0.400002 m,
      approachRate: 0.793811 m/s,
      rangeRepo size: 4

2025-06-05T16:56:23.879Z,1749142583.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.569881 m,
      bearing: 141.084080 deg,
      lat: 36.906269 deg,
      lon: -122.115936 deg,
      deltaT: 1.007962 s,
      deltaX: 0.693893 m,
      approachRate: 0.688412 m/s,
      posRepo size: 4

2025-06-05T16:56:23.881Z,1749142583.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.57 m.
2025-06-05T16:56:23.933Z,1749142583.933 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.761904
2025-06-05T16:56:24.185Z,1749142584.185 [DAT](INFO): DAT read: Rx Time:16:56:22.9746 

2025-06-05T16:56:24.185Z,1749142584.185 [DAT](INFO): Rx dataTimestamp_ set to:1749142584.184808
2025-06-05T16:56:24.186Z,1749142584.186 [DAT](INFO): DAT read: Bearing 185.9,   7.7 (Local)

2025-06-05T16:56:24.187Z,1749142584.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.9,   7.7 (Local)

2025-06-05T16:56:24.189Z,1749142584.189 [DAT](INFO): DAT read: Range 10 to 50 :    40.2 m (trip time 26.8 ms) speed -0.5

2025-06-05T16:56:24.193Z,1749142584.193 [DAT](INFO): DAT read: 16:56:22.9746 LVL= 24112, 25137, 23394, 32451, AGC= 70, IDX= 504, 0.47, 0.024, 2.159, 0.473, 0.750, PHS=-0.638, 1.455,-0.281, RAW= 320.8,  -5.6, CAL= 324.1,  -7.7, ROT= 185.9,   7.7

2025-06-05T16:56:24.195Z,1749142584.195 [DAT](INFO): got valid direction response:
 16:56:22.9746 LVL= 24112, 25137, 23394, 32451, AGC= 70, IDX= 504, 0.47, 0.024, 2.159, 0.473, 0.750, PHS=-0.638, 1.455,-0.281, RAW= 320.8,  -5.6, CAL= 324.1,  -7.7, ROT= 185.9,   7.7

2025-06-05T16:56:24.195Z,1749142584.195 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-06-05T16:56:24.196Z,1749142584.196 [DAT](INFO): direction in FSK: [-0.985734,-0.101866,-0.133986]
2025-06-05T16:56:24.196Z,1749142584.196 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:24.208Z,1749142584.208 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.037678
2025-06-05T16:56:24.313Z,1749142584.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.200001 m,
      deltaT: 0.504972 s,
      deltaX: 0.299999 m,
      approachRate: 0.594091 m/s,
      rangeRepo size: 4

2025-06-05T16:56:24.323Z,1749142584.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.867588 m,
      bearing: 141.078565 deg,
      lat: 36.906269 deg,
      lon: -122.115936 deg,
      deltaT: 0.504972 s,
      deltaX: 0.297707 m,
      approachRate: 0.589551 m/s,
      posRepo size: 4

2025-06-05T16:56:24.324Z,1749142584.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.87 m.
2025-06-05T16:56:24.436Z,1749142584.436 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.265049
2025-06-05T16:56:24.675Z,1749142584.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.87 m.
2025-06-05T16:56:24.688Z,1749142584.688 [DAT](INFO): DAT read: Rx Time:16:56:23.4750 

2025-06-05T16:56:24.689Z,1749142584.689 [DAT](INFO): Rx dataTimestamp_ set to:1749142584.688269
2025-06-05T16:56:24.690Z,1749142584.690 [DAT](INFO): DAT read: Bearing 186.8,   6.8 (Local)

2025-06-05T16:56:24.690Z,1749142584.690 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.8,   6.8 (Local)

2025-06-05T16:56:24.692Z,1749142584.692 [DAT](INFO): DAT read: Range 10 to 50 :    40.8 m (trip time 27.2 ms) speed -0.5

2025-06-05T16:56:24.697Z,1749142584.697 [DAT](INFO): DAT read: 16:56:23.4750 LVL= 20976, 21169, 17138, 32195, AGC= 69, IDX= 508, 0.46, 0.995,-3.120, 1.478, 1.762, PHS=-0.679, 1.448,-0.287, RAW= 320.0,  -5.0, CAL= 323.2,  -6.8, ROT= 186.8,   6.8

2025-06-05T16:56:24.700Z,1749142584.700 [DAT](INFO): got valid direction response:
 16:56:23.4750 LVL= 20976, 21169, 17138, 32195, AGC= 69, IDX= 508, 0.46, 0.995,-3.120, 1.478, 1.762, PHS=-0.679, 1.448,-0.287, RAW= 320.0,  -5.0, CAL= 323.2,  -6.8, ROT= 186.8,   6.8

2025-06-05T16:56:24.700Z,1749142584.700 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-06-05T16:56:24.701Z,1749142584.701 [DAT](INFO): direction in FSK: [-0.985980,-0.117571,-0.118404]
2025-06-05T16:56:24.702Z,1749142584.702 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:24.709Z,1749142584.709 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.538635
2025-06-05T16:56:24.939Z,1749142584.939 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.768520
2025-06-05T16:56:25.192Z,1749142585.192 [DAT](INFO): DAT read: Rx Time:16:56:23.9751 

2025-06-05T16:56:25.192Z,1749142585.192 [DAT](INFO): Rx dataTimestamp_ set to:1749142585.191925
2025-06-05T16:56:25.193Z,1749142585.193 [DAT](INFO): DAT read: Bearing 185.6,   8.1 (Local)

2025-06-05T16:56:25.194Z,1749142585.194 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.6,   8.1 (Local)

2025-06-05T16:56:25.196Z,1749142585.196 [DAT](INFO): DAT read: Range 10 to 50 :    41.1 m (trip time 27.4 ms) speed -0.5

2025-06-05T16:56:25.203Z,1749142585.203 [DAT](INFO): DAT read: 16:56:23.9751 LVL= 20208, 23617, 18930, 31347, AGC= 69, IDX= 510, 0.48,-0.390, 1.738, 0.044, 0.320, PHS=-0.622, 1.464,-0.279, RAW= 321.2,  -5.9, CAL= 324.4,  -8.1, ROT= 185.6,   8.1

2025-06-05T16:56:25.206Z,1749142585.206 [DAT](INFO): got valid direction response:
 16:56:23.9751 LVL= 20208, 23617, 18930, 31347, AGC= 69, IDX= 510, 0.48,-0.390, 1.738, 0.044, 0.320, PHS=-0.622, 1.464,-0.279, RAW= 321.2,  -5.9, CAL= 324.4,  -8.1, ROT= 185.6,   8.1

2025-06-05T16:56:25.211Z,1749142585.211 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-06-05T16:56:25.212Z,1749142585.212 [DAT](INFO): direction in FSK: [-0.985299,-0.096610,-0.140901]
2025-06-05T16:56:25.213Z,1749142585.213 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:25.219Z,1749142585.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.799999 m,
      deltaT: 0.503461 s,
      deltaX: 0.599998 m,
      approachRate: 1.191748 m/s,
      rangeRepo size: 4

2025-06-05T16:56:25.236Z,1749142585.236 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.065376
2025-06-05T16:56:25.234Z,1749142585.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.463402 m,
      bearing: 142.004577 deg,
      lat: 36.906268 deg,
      lon: -122.115936 deg,
      deltaT: 0.503461 s,
      deltaX: 0.595814 m,
      approachRate: 1.183436 m/s,
      posRepo size: 4

2025-06-05T16:56:25.239Z,1749142585.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.46 m.
2025-06-05T16:56:25.448Z,1749142585.448 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.276810
2025-06-05T16:56:25.691Z,1749142585.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.099998 m,
      deltaT: 0.503656 s,
      deltaX: 0.299999 m,
      approachRate: 0.595643 m/s,
      rangeRepo size: 4

2025-06-05T16:56:25.693Z,1749142585.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.760925 m,
      bearing: 140.772693 deg,
      lat: 36.906268 deg,
      lon: -122.115935 deg,
      deltaT: 0.503656 s,
      deltaX: 0.297523 m,
      approachRate: 0.590728 m/s,
      posRepo size: 4

2025-06-05T16:56:25.694Z,1749142585.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.76 m.
2025-06-05T16:56:25.701Z,1749142585.701 [DAT](INFO): DAT read: Rx Time:16:56:24.4755 

2025-06-05T16:56:25.701Z,1749142585.701 [DAT](INFO): Rx dataTimestamp_ set to:1749142585.701006
2025-06-05T16:56:25.703Z,1749142585.703 [DAT](INFO): DAT read: Bearing 186.4,   8.3 (Local)

2025-06-05T16:56:25.703Z,1749142585.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.4,   8.3 (Local)

2025-06-05T16:56:25.705Z,1749142585.705 [DAT](INFO): DAT read: Range 10 to 50 :    41.7 m (trip time 27.8 ms) speed -0.5

2025-06-05T16:56:25.710Z,1749142585.710 [DAT](INFO): DAT read: 16:56:24.4755 LVL= 20976, 21777, 16242, 31299, AGC= 68, IDX=   2, 0.36, 1.520,-2.597, 1.997, 2.250, PHS=-0.642, 1.483,-0.256, RAW= 320.2,  -6.0, CAL= 323.6,  -8.3, ROT= 186.4,   8.3

2025-06-05T16:56:25.711Z,1749142585.711 [DAT](INFO): got valid direction response:
 16:56:24.4755 LVL= 20976, 21777, 16242, 31299, AGC= 68, IDX=   2, 0.36, 1.520,-2.597, 1.997, 2.250, PHS=-0.642, 1.483,-0.256, RAW= 320.2,  -6.0, CAL= 323.6,  -8.3, ROT= 186.4,   8.3

2025-06-05T16:56:25.711Z,1749142585.711 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-06-05T16:56:25.712Z,1749142585.712 [DAT](INFO): direction in FSK: [-0.983359,-0.110301,-0.144356]
2025-06-05T16:56:25.713Z,1749142585.713 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:25.717Z,1749142585.717 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.546616
2025-06-05T16:56:25.952Z,1749142585.952 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.781002
2025-06-05T16:56:26.204Z,1749142586.204 [DAT](INFO): DAT read: Rx Time:16:56:24.9757 

2025-06-05T16:56:26.204Z,1749142586.204 [DAT](INFO): Rx dataTimestamp_ set to:1749142586.203976
2025-06-05T16:56:26.206Z,1749142586.206 [DAT](INFO): DAT read: Bearing 185.9,   7.8 (Local)

2025-06-05T16:56:26.206Z,1749142586.206 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.9,   7.8 (Local)

2025-06-05T16:56:26.208Z,1749142586.208 [DAT](INFO): DAT read: Range 10 to 50 :    42.0 m (trip time 28.0 ms) speed -0.7

2025-06-05T16:56:26.213Z,1749142586.213 [DAT](INFO): DAT read: 16:56:24.9757 LVL= 22496, 27985, 17618, 32755, AGC= 69, IDX= 500, 0.24, 0.515, 2.607, 0.954, 1.224, PHS=-0.621, 1.430,-0.273, RAW= 320.9,  -5.7, CAL= 324.1,  -7.8, ROT= 185.9,   7.8

2025-06-05T16:56:26.214Z,1749142586.214 [DAT](INFO): got valid direction response:
 16:56:24.9757 LVL= 22496, 27985, 17618, 32755, AGC= 69, IDX= 500, 0.24, 0.515, 2.607, 0.954, 1.224, PHS=-0.621, 1.430,-0.273, RAW= 320.9,  -5.7, CAL= 324.1,  -7.8, ROT= 185.9,   7.8

2025-06-05T16:56:26.215Z,1749142586.215 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-06-05T16:56:26.217Z,1749142586.217 [DAT](INFO): direction in FSK: [-0.985500,-0.101841,-0.135716]
2025-06-05T16:56:26.217Z,1749142586.217 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:26.229Z,1749142586.229 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.057941
2025-06-05T16:56:26.291Z,1749142586.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.000000 m,
      deltaT: 1.012051 s,
      deltaX: 0.900002 m,
      approachRate: 0.889285 m/s,
      rangeRepo size: 4

2025-06-05T16:56:26.293Z,1749142586.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.653488 m,
      bearing: 141.079215 deg,
      lat: 36.906270 deg,
      lon: -122.115935 deg,
      deltaT: 1.012051 s,
      deltaX: 0.892563 m,
      approachRate: 0.881935 m/s,
      posRepo size: 4

2025-06-05T16:56:26.294Z,1749142586.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.65 m.
2025-06-05T16:56:26.455Z,1749142586.455 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.284618
2025-06-05T16:56:26.701Z,1749142586.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.65 m.
2025-06-05T16:56:26.712Z,1749142586.712 [DAT](INFO): DAT read: Rx Time:16:56:25.4760 

2025-06-05T16:56:26.713Z,1749142586.713 [DAT](INFO): Rx dataTimestamp_ set to:1749142586.712400
2025-06-05T16:56:26.717Z,1749142586.717 [DAT](INFO): DAT read: Bearing 187.2,   6.7 (Local)

2025-06-05T16:56:26.717Z,1749142586.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.2,   6.7 (Local)

2025-06-05T16:56:26.719Z,1749142586.719 [DAT](INFO): DAT read: Range 10 to 50 :    42.5 m (trip time 28.3 ms) speed -0.8

2025-06-05T16:56:26.733Z,1749142586.733 [DAT](INFO): DAT read: 16:56:25.4760 LVL= 30192, 29889, 22642, 32755, AGC= 69, IDX= 504, 0.10, 1.701,-2.434, 2.198, 2.471, PHS=-0.682, 1.425,-0.277, RAW= 319.6,  -4.9, CAL= 322.8,  -6.7, ROT= 187.2,   6.7

2025-06-05T16:56:26.743Z,1749142586.743 [DAT](INFO): got valid direction response:
 16:56:25.4760 LVL= 30192, 29889, 22642, 32755, AGC= 69, IDX= 504, 0.10, 1.701,-2.434, 2.198, 2.471, PHS=-0.682, 1.425,-0.277, RAW= 319.6,  -4.9, CAL= 322.8,  -6.7, ROT= 187.2,   6.7

2025-06-05T16:56:26.743Z,1749142586.743 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-06-05T16:56:26.744Z,1749142586.744 [DAT](INFO): direction in FSK: [-0.985339,-0.124477,-0.116671]
2025-06-05T16:56:26.745Z,1749142586.745 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:26.757Z,1749142586.757 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.585751
2025-06-05T16:56:26.959Z,1749142586.959 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.788662
2025-06-05T16:56:27.153Z,1749142587.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.500000 m,
      deltaT: 0.508424 s,
      deltaX: 0.500000 m,
      approachRate: 0.983431 m/s,
      rangeRepo size: 4

2025-06-05T16:56:27.155Z,1749142587.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.147354 m,
      bearing: 142.277973 deg,
      lat: 36.906270 deg,
      lon: -122.115936 deg,
      deltaT: 0.508424 s,
      deltaX: 0.493866 m,
      approachRate: 0.971366 m/s,
      posRepo size: 4

2025-06-05T16:56:27.156Z,1749142587.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.15 m.
2025-06-05T16:56:27.212Z,1749142587.212 [DAT](INFO): DAT read: Rx Time:16:56:25.9762 

2025-06-05T16:56:27.212Z,1749142587.212 [DAT](INFO): Rx dataTimestamp_ set to:1749142587.211973
2025-06-05T16:56:27.214Z,1749142587.214 [DAT](INFO): DAT read: Bearing 186.2,   7.9 (Local)

2025-06-05T16:56:27.214Z,1749142587.214 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.2,   7.9 (Local)

2025-06-05T16:56:27.218Z,1749142587.218 [DAT](INFO): DAT read: Range 10 to 50 :    42.8 m (trip time 28.5 ms) speed -0.7

2025-06-05T16:56:27.225Z,1749142587.225 [DAT](INFO): DAT read: 16:56:25.9762 LVL= 31888, 25169, 22706, 32755, AGC= 68, IDX= 490,-0.04,-0.622, 1.548,-0.157, 0.112, PHS=-0.646, 1.483,-0.272, RAW= 320.5,  -5.8, CAL= 323.8,  -7.9, ROT= 186.2,   7.9

2025-06-05T16:56:27.236Z,1749142587.236 [DAT](INFO): got valid direction response:
 16:56:25.9762 LVL= 31888, 25169, 22706, 32755, AGC= 68, IDX= 490,-0.04,-0.622, 1.548,-0.157, 0.112, PHS=-0.646, 1.483,-0.272, RAW= 320.5,  -5.8, CAL= 323.8,  -7.9, ROT= 186.2,   7.9

2025-06-05T16:56:27.237Z,1749142587.237 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-06-05T16:56:27.239Z,1749142587.239 [DAT](INFO): direction in FSK: [-0.984716,-0.106974,-0.137445]
2025-06-05T16:56:27.240Z,1749142587.240 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:27.249Z,1749142587.249 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.078575
2025-06-05T16:56:27.466Z,1749142587.466 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.294052
2025-06-05T16:56:27.567Z,1749142587.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.799999 m,
      deltaT: 0.499573 s,
      deltaX: 0.299999 m,
      approachRate: 0.600511 m/s,
      rangeRepo size: 4

2025-06-05T16:56:27.578Z,1749142587.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.444866 m,
      bearing: 141.255175 deg,
      lat: 36.906270 deg,
      lon: -122.115937 deg,
      deltaT: 0.499573 s,
      deltaX: 0.297512 m,
      approachRate: 0.595533 m/s,
      posRepo size: 4

2025-06-05T16:56:27.584Z,1749142587.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m.
2025-06-05T16:56:27.717Z,1749142587.717 [DAT](INFO): DAT read: Rx Time:16:56:26.4765 

2025-06-05T16:56:27.717Z,1749142587.717 [DAT](INFO): Rx dataTimestamp_ set to:1749142587.717217
2025-06-05T16:56:27.719Z,1749142587.719 [DAT](INFO): DAT read: Bearing 187.2,   8.7 (Local)

2025-06-05T16:56:27.719Z,1749142587.719 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.2,   8.7 (Local)

2025-06-05T16:56:27.721Z,1749142587.721 [DAT](INFO): DAT read: Range 10 to 50 :    43.2 m (trip time 28.8 ms) speed -0.4

2025-06-05T16:56:27.726Z,1749142587.726 [DAT](INFO): DAT read: 16:56:26.4765 LVL= 25200, 26385, 22002, 32755, AGC= 65, IDX= 509,-0.20,-0.805, 1.384,-0.291,-0.066, PHS=-0.650, 1.497,-0.228, RAW= 319.3,  -6.3, CAL= 322.8,  -8.7, ROT= 187.2,   8.7

2025-06-05T16:56:27.727Z,1749142587.727 [DAT](INFO): got valid direction response:
 16:56:26.4765 LVL= 25200, 26385, 22002, 32755, AGC= 65, IDX= 509,-0.20,-0.805, 1.384,-0.291,-0.066, PHS=-0.650, 1.497,-0.228, RAW= 319.3,  -6.3, CAL= 322.8,  -8.7, ROT= 187.2,   8.7

2025-06-05T16:56:27.728Z,1749142587.728 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-06-05T16:56:27.729Z,1749142587.729 [DAT](INFO): direction in FSK: [-0.980699,-0.123891,-0.151261]
2025-06-05T16:56:27.729Z,1749142587.729 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:27.749Z,1749142587.749 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.577400
2025-06-05T16:56:27.967Z,1749142587.967 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.796669
2025-06-05T16:56:27.995Z,1749142587.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.200001 m,
      deltaT: 0.505244 s,
      deltaX: 0.400002 m,
      approachRate: 0.791700 m/s,
      rangeRepo size: 4

2025-06-05T16:56:28.005Z,1749142588.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.841549 m,
      bearing: 142.221396 deg,
      lat: 36.906270 deg,
      lon: -122.115937 deg,
      deltaT: 0.505244 s,
      deltaX: 0.396683 m,
      approachRate: 0.785131 m/s,
      posRepo size: 4

2025-06-05T16:56:28.005Z,1749142588.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.84 m.
2025-06-05T16:56:28.220Z,1749142588.220 [DAT](INFO): DAT read: Rx Time:16:56:26.9767 

2025-06-05T16:56:28.220Z,1749142588.220 [DAT](INFO): Rx dataTimestamp_ set to:1749142588.219876
2025-06-05T16:56:28.221Z,1749142588.221 [DAT](INFO): DAT read: Bearing 186.8,   9.4 (Local)

2025-06-05T16:56:28.222Z,1749142588.222 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.8,   9.4 (Local)

2025-06-05T16:56:28.224Z,1749142588.224 [DAT](INFO): DAT read: Range 10 to 50 :    43.5 m (trip time  speed -0.6

2025-06-05T16:56:28.228Z,1749142588.228 [DAT](INFO): DAT read: 16:56:26.9767 LVL= 28128, 32209, 26850, 32755, AGC= 68, IDX= 510, 0.49,-0.467, 1.644, 0.018, 0.227, PHS=-0.606, 1.464,-0.212, RAW= 319.7,  -6.8, CAL= 323.2,  -9.4, ROT= 186.8,   9.4

2025-06-05T16:56:28.229Z,1749142588.229 [DAT](INFO): got valid direction response:
 16:56:26.9767 LVL= 28128, 32209, 26850, 32755, AGC= 68, IDX= 510, 0.49,-0.467, 1.644, 0.018, 0.227, PHS=-0.606, 1.464,-0.212, RAW= 319.7,  -6.8, CAL= 323.2,  -9.4, ROT= 186.8,   9.4

2025-06-05T16:56:28.230Z,1749142588.230 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-06-05T16:56:28.232Z,1749142588.232 [DAT](INFO): direction in FSK: [-0.979632,-0.116814,-0.163326]
2025-06-05T16:56:28.232Z,1749142588.232 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:28.271Z,1749142588.271 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.100094
2025-06-05T16:56:28.429Z,1749142588.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.500000 m,
      deltaT: 0.502659 s,
      deltaX: 0.299999 m,
      approachRate: 0.596825 m/s,
      rangeRepo size: 4

2025-06-05T16:56:28.436Z,1749142588.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.138100 m,
      bearing: 141.740438 deg,
      lat: 36.906270 deg,
      lon: -122.115942 deg,
      deltaT: 0.502659 s,
      deltaX: 0.296551 m,
      approachRate: 0.589964 m/s,
      posRepo size: 4

2025-06-05T16:56:28.436Z,1749142588.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.14 m.
2025-06-05T16:56:28.472Z,1749142588.472 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.300827
2025-06-05T16:56:28.724Z,1749142588.724 [DAT](INFO): DAT read: Rx Time:16:56:27.4770 

2025-06-05T16:56:28.724Z,1749142588.724 [DAT](INFO): Rx dataTimestamp_ set to:1749142588.724008
2025-06-05T16:56:28.726Z,1749142588.726 [DAT](INFO): DAT read: Bearing 187.0,   9.0 (Local)

2025-06-05T16:56:28.734Z,1749142588.734 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.0,   9.0 (Local)

2025-06-05T16:56:28.736Z,1749142588.736 [DAT](INFO): DAT read: Range 10 to 50 :    43.8 m (trip time 29.2 ms) speed -0.7

2025-06-05T16:56:28.741Z,1749142588.741 [DAT](INFO): DAT read: 16:56:27.4770 LVL= 25072, 18769, 18674, 32755, AGC= 67, IDX=   2, 0.14, 1.450,-2.706, 1.944, 2.159, PHS=-0.622, 1.465,-0.219, RAW= 319.5,  -6.6, CAL= 323.0,  -9.0, ROT= 187.0,   9.0

2025-06-05T16:56:28.742Z,1749142588.742 [DAT](INFO): got valid direction response:
 16:56:27.4770 LVL= 25072, 18769, 18674, 32755, AGC= 67, IDX=   2, 0.14, 1.450,-2.706, 1.944, 2.159, PHS=-0.622, 1.465,-0.219, RAW= 319.5,  -6.6, CAL= 323.0,  -9.0, ROT= 187.0,   9.0

2025-06-05T16:56:28.743Z,1749142588.743 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-06-05T16:56:28.744Z,1749142588.744 [DAT](INFO): direction in FSK: [-0.980326,-0.120369,-0.156434]
2025-06-05T16:56:28.744Z,1749142588.744 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:28.749Z,1749142588.749 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.577530
2025-06-05T16:56:28.804Z,1749142588.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.799999 m,
      deltaT: 0.504132 s,
      deltaX: 0.299999 m,
      approachRate: 0.595081 m/s,
      rangeRepo size: 4

2025-06-05T16:56:28.810Z,1749142588.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.435600 m,
      bearing: 141.921066 deg,
      lat: 36.906269 deg,
      lon: -122.115942 deg,
      deltaT: 0.504132 s,
      deltaX: 0.297501 m,
      approachRate: 0.590124 m/s,
      posRepo size: 4

2025-06-05T16:56:28.811Z,1749142588.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.44 m.
2025-06-05T16:56:28.975Z,1749142588.975 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.804459
2025-06-05T16:56:29.212Z,1749142589.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.44 m.
2025-06-05T16:56:29.228Z,1749142589.228 [DAT](INFO): DAT read: Rx Time:16:56:27.9772 

2025-06-05T16:56:29.228Z,1749142589.228 [DAT](INFO): Rx dataTimestamp_ set to:1749142589.227983
2025-06-05T16:56:29.230Z,1749142589.230 [DAT](INFO): DAT read: Bearing 187.2,   8.0 (Local)

2025-06-05T16:56:29.230Z,1749142589.230 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.2,   8.0 (Local)

2025-06-05T16:56:29.234Z,1749142589.234 [DAT](INFO): DAT read: Range 10 to 50 :    44.1 m (trip time 29.4 ms) speed -0.4

2025-06-05T16:56:29.238Z,1749142589.238 [DAT](INFO): DAT read: 16:56:27.9772 LVL= 32752, 25249, 21874, 32755, AGC= 69, IDX= 500,-0.03,-1.493, 0.642,-0.993,-0.755, PHS=-0.650, 1.445,-0.241, RAW= 319.4,  -5.8, CAL= 322.8,  -8.0, ROT= 187.2,   8.0

2025-06-05T16:56:29.239Z,1749142589.239 [DAT](INFO): got valid direction response:
 16:56:27.9772 LVL= 32752, 25249, 21874, 32755, AGC= 69, IDX= 500,-0.03,-1.493, 0.642,-0.993,-0.755, PHS=-0.650, 1.445,-0.241, RAW= 319.4,  -5.8, CAL= 322.8,  -8.0, ROT= 187.2,   8.0

2025-06-05T16:56:29.240Z,1749142589.240 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-05T16:56:29.241Z,1749142589.241 [DAT](INFO): direction in FSK: [-0.982460,-0.124113,-0.139173]
2025-06-05T16:56:29.241Z,1749142589.241 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:29.257Z,1749142589.257 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.085754
2025-06-05T16:56:29.480Z,1749142589.480 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.309231
2025-06-05T16:56:29.641Z,1749142589.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.099998 m,
      deltaT: 0.503975 s,
      deltaX: 0.299999 m,
      approachRate: 0.595266 m/s,
      rangeRepo size: 4

2025-06-05T16:56:29.648Z,1749142589.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.732990 m,
      bearing: 142.058301 deg,
      lat: 36.906270 deg,
      lon: -122.115943 deg,
      deltaT: 0.503975 s,
      deltaX: 0.297390 m,
      approachRate: 0.590089 m/s,
      posRepo size: 4

2025-06-05T16:56:29.649Z,1749142589.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.73 m.
2025-06-05T16:56:29.733Z,1749142589.733 [DAT](INFO): DAT read: Rx Time:16:56:28.4776 

2025-06-05T16:56:29.734Z,1749142589.734 [DAT](INFO): Rx dataTimestamp_ set to:1749142589.733582
2025-06-05T16:56:29.737Z,1749142589.737 [DAT](INFO): DAT read: Bearing 185.9,   9.1 (Local)

2025-06-05T16:56:29.737Z,1749142589.737 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.9,   9.1 (Local)

2025-06-05T16:56:29.743Z,1749142589.743 [DAT](INFO): DAT read: Range 10 to 50 :    44.7 m (trip time 29.8 ms) speed -0.6

2025-06-05T16:56:29.760Z,1749142589.760 [DAT](INFO): DAT read: 16:56:28.4776 LVL= 22384, 20305, 21170, 32163, AGC= 69, IDX= 504,-0.36,-0.342, 1.776, 0.110, 0.347, PHS=-0.601, 1.476,-0.240, RAW= 320.6,  -6.7, CAL= 324.1,  -9.1, ROT= 185.9,   9.1

2025-06-05T16:56:29.761Z,1749142589.761 [DAT](INFO): got valid direction response:
 16:56:28.4776 LVL= 22384, 20305, 21170, 32163, AGC= 69, IDX= 504,-0.36,-0.342, 1.776, 0.110, 0.347, PHS=-0.601, 1.476,-0.240, RAW= 320.6,  -6.7, CAL= 324.1,  -9.1, ROT= 185.9,   9.1

2025-06-05T16:56:29.761Z,1749142589.761 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-05T16:56:29.776Z,1749142589.776 [DAT](INFO): direction in FSK: [-0.982183,-0.101499,-0.158158]
2025-06-05T16:56:29.776Z,1749142589.776 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:29.780Z,1749142589.780 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.609371
2025-06-05T16:56:29.987Z,1749142589.987 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.815872
2025-06-05T16:56:30.141Z,1749142590.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.700001 m,
      deltaT: 0.505599 s,
      deltaX: 0.600002 m,
      approachRate: 1.186716 m/s,
      rangeRepo size: 4

2025-06-05T16:56:30.144Z,1749142590.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.327904 m,
      bearing: 140.712852 deg,
      lat: 36.906270 deg,
      lon: -122.115943 deg,
      deltaT: 0.505599 s,
      deltaX: 0.594913 m,
      approachRate: 1.176651 m/s,
      posRepo size: 4

2025-06-05T16:56:30.144Z,1749142590.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.33 m.
2025-06-05T16:56:30.240Z,1749142590.240 [DAT](INFO): DAT read: Rx Time:16:56:28.9778 

2025-06-05T16:56:30.241Z,1749142590.241 [DAT](INFO): Rx dataTimestamp_ set to:1749142590.240648
2025-06-05T16:56:30.243Z,1749142590.243 [DAT](INFO): DAT read: Bearing 187.0,   8.4 (Local)

2025-06-05T16:56:30.243Z,1749142590.243 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.0,   8.4 (Local)

2025-06-05T16:56:30.245Z,1749142590.245 [DAT](INFO): DAT read: Range 10 to 50 :    45.0 m (trip time 30.0 ms) speed -0.5

2025-06-05T16:56:30.257Z,1749142590.257 [DAT](INFO): DAT read: 16:56:28.9778 LVL= 24336, 31969, 22674, 32755, AGC= 68, IDX= 505, 0.44,-2.425,-0.229,-1.921,-1.681, PHS=-0.655, 1.499,-0.242, RAW= 319.6,  -6.1, CAL= 323.0,  -8.4, ROT= 187.0,   8.4

2025-06-05T16:56:30.265Z,1749142590.265 [DAT](INFO): got valid direction response:
 16:56:28.9778 LVL= 24336, 31969, 22674, 32755, AGC= 68, IDX= 505, 0.44,-2.425,-0.229,-1.921,-1.681, PHS=-0.655, 1.499,-0.242, RAW= 319.6,  -6.1, CAL= 323.0,  -8.4, ROT= 187.0,   8.4

2025-06-05T16:56:30.274Z,1749142590.274 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-06-05T16:56:30.275Z,1749142590.275 [DAT](INFO): direction in FSK: [-0.981898,-0.120562,-0.146083]
2025-06-05T16:56:30.276Z,1749142590.276 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:30.295Z,1749142590.295 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.124619
2025-06-05T16:56:30.487Z,1749142590.487 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.316338
2025-06-05T16:56:30.505Z,1749142590.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.000000 m,
      deltaT: 0.507066 s,
      deltaX: 0.299999 m,
      approachRate: 0.591637 m/s,
      rangeRepo size: 4

2025-06-05T16:56:30.516Z,1749142590.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.625408 m,
      bearing: 141.811381 deg,
      lat: 36.906270 deg,
      lon: -122.115943 deg,
      deltaT: 0.507066 s,
      deltaX: 0.297504 m,
      approachRate: 0.586717 m/s,
      posRepo size: 4

2025-06-05T16:56:30.517Z,1749142590.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.63 m.
2025-06-05T16:56:30.740Z,1749142590.740 [DAT](INFO): DAT read: Rx Time:16:56:29.4783 

2025-06-05T16:56:30.740Z,1749142590.740 [DAT](INFO): Rx dataTimestamp_ set to:1749142590.739878
2025-06-05T16:56:30.741Z,1749142590.741 [DAT](INFO): DAT read: Bearing 187.0,   7.7 (Local)

2025-06-05T16:56:30.742Z,1749142590.742 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.0,   7.7 (Local)

2025-06-05T16:56:30.744Z,1749142590.744 [DAT](INFO): DAT read: Range 10 to 50 :    45.8 m (trip time 30.5 ms) speed -0.5

2025-06-05T16:56:30.750Z,1749142590.750 [DAT](INFO): DAT read: 16:56:29.4783 LVL= 26416, 26785, 23154, 32755, AGC= 67, IDX= 509, 0.29,-2.583,-0.376,-2.077,-1.819, PHS=-0.676, 1.490,-0.262, RAW= 319.6,  -5.6, CAL= 323.0,  -7.7, ROT= 187.0,   7.7

2025-06-05T16:56:30.755Z,1749142590.755 [DAT](INFO): got valid direction response:
 16:56:29.4783 LVL= 26416, 26785, 23154, 32755, AGC= 67, IDX= 509, 0.29,-2.583,-0.376,-2.077,-1.819, PHS=-0.676, 1.490,-0.262, RAW= 319.6,  -5.6, CAL= 323.0,  -7.7, ROT= 187.0,   7.7

2025-06-05T16:56:30.757Z,1749142590.757 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-06-05T16:56:30.759Z,1749142590.759 [DAT](INFO): direction in FSK: [-0.983597,-0.120771,-0.133986]
2025-06-05T16:56:30.760Z,1749142590.760 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:30.763Z,1749142590.763 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.592575
2025-06-05T16:56:30.991Z,1749142590.991 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.820549
2025-06-05T16:56:30.994Z,1749142590.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.799999 m,
      deltaT: 0.499230 s,
      deltaX: 0.799999 m,
      approachRate: 1.602466 m/s,
      rangeRepo size: 4

2025-06-05T16:56:30.996Z,1749142590.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.418747 m,
      bearing: 141.807665 deg,
      lat: 36.906270 deg,
      lon: -122.115943 deg,
      deltaT: 0.499230 s,
      deltaX: 0.793339 m,
      approachRate: 1.589125 m/s,
      posRepo size: 4

2025-06-05T16:56:30.997Z,1749142590.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.42 m.
2025-06-05T16:56:31.247Z,1749142591.247 [DAT](INFO): DAT read: Rx Time:16:56:29.9784 

2025-06-05T16:56:31.249Z,1749142591.249 [DAT](INFO): Rx dataTimestamp_ set to:1749142591.247882
2025-06-05T16:56:31.252Z,1749142591.252 [DAT](INFO): DAT read: Bearing 186.7,   8.5 (Local)

2025-06-05T16:56:31.252Z,1749142591.252 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.7,   8.5 (Local)

2025-06-05T16:56:31.254Z,1749142591.254 [DAT](INFO): DAT read: Range 10 to 50 :    45.9 m (trip time 30.6 ms) speed -0.6

2025-06-05T16:56:31.263Z,1749142591.263 [DAT](INFO): DAT read: 16:56:29.9784 LVL= 28816, 27089, 24034, 32755, AGC= 67, IDX= 511, 0.03, 2.124,-1.977, 2.614, 2.857, PHS=-0.644, 1.497,-0.246, RAW= 319.9,  -6.2, CAL= 323.3,  -8.5, ROT= 186.7,   8.5

2025-06-05T16:56:31.266Z,1749142591.266 [DAT](INFO): got valid direction response:
 16:56:29.9784 LVL= 28816, 27089, 24034, 32755, AGC= 67, IDX= 511, 0.03, 2.124,-1.977, 2.614, 2.857, PHS=-0.644, 1.497,-0.246, RAW= 319.9,  -6.2, CAL= 323.3,  -8.5, ROT= 186.7,   8.5

2025-06-05T16:56:31.268Z,1749142591.268 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-06-05T16:56:31.269Z,1749142591.269 [DAT](INFO): direction in FSK: [-0.982262,-0.115389,-0.147809]
2025-06-05T16:56:31.270Z,1749142591.270 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:31.285Z,1749142591.285 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.113960
2025-06-05T16:56:31.394Z,1749142591.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.900002 m,
      deltaT: 0.508004 s,
      deltaX: 0.100002 m,
      approachRate: 0.196853 m/s,
      rangeRepo size: 4

2025-06-05T16:56:31.400Z,1749142591.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.518105 m,
      bearing: 141.478406 deg,
      lat: 36.906270 deg,
      lon: -122.115939 deg,
      deltaT: 0.508004 s,
      deltaX: 0.099358 m,
      approachRate: 0.195584 m/s,
      posRepo size: 4

2025-06-05T16:56:31.401Z,1749142591.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.52 m.
2025-06-05T16:56:31.495Z,1749142591.495 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.324520
2025-06-05T16:56:31.749Z,1749142591.749 [DAT](INFO): DAT read: Rx Time:16:56:30.4787 

2025-06-05T16:56:31.750Z,1749142591.750 [DAT](INFO): Rx dataTimestamp_ set to:1749142591.749313
2025-06-05T16:56:31.751Z,1749142591.751 [DAT](INFO): DAT read: Bearing 186.0,   9.6 (Local)

2025-06-05T16:56:31.752Z,1749142591.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.0,   9.6 (Local)

2025-06-05T16:56:31.754Z,1749142591.754 [DAT](INFO): DAT read: Range 10 to 50 :    46.4 m (trip time 30.9 ms) speed -0.8

2025-06-05T16:56:31.758Z,1749142591.758 [DAT](INFO): DAT read: 16:56:30.4787 LVL= 32752, 24625, 27010, 32755, AGC= 67, IDX=   2,-0.28, 2.056,-2.046, 2.524, 2.752, PHS=-0.608, 1.532,-0.231, RAW= 320.5,  -7.1, CAL= 324.0,  -9.6, ROT= 186.0,   9.6

2025-06-05T16:56:31.759Z,1749142591.759 [DAT](INFO): got valid direction response:
 16:56:30.4787 LVL= 32752, 24625, 27010, 32755, AGC= 67, IDX=   2,-0.28, 2.056,-2.046, 2.524, 2.752, PHS=-0.608, 1.532,-0.231, RAW= 320.5,  -7.1, CAL= 324.0,  -9.6, ROT= 186.0,   9.6

2025-06-05T16:56:31.760Z,1749142591.760 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-06-05T16:56:31.761Z,1749142591.761 [DAT](INFO): direction in FSK: [-0.980595,-0.103065,-0.166769]
2025-06-05T16:56:31.761Z,1749142591.761 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:31.791Z,1749142591.791 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.619728
2025-06-05T16:56:31.827Z,1749142591.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.400002 m,
      deltaT: 0.501431 s,
      deltaX: 0.500000 m,
      approachRate: 0.997146 m/s,
      rangeRepo size: 4

2025-06-05T16:56:31.830Z,1749142591.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.013943 m,
      bearing: 140.752887 deg,
      lat: 36.906270 deg,
      lon: -122.115939 deg,
      deltaT: 0.501431 s,
      deltaX: 0.495838 m,
      approachRate: 0.988846 m/s,
      posRepo size: 4

2025-06-05T16:56:31.835Z,1749142591.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.01 m.
2025-06-05T16:56:32.003Z,1749142592.003 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.831905
2025-06-05T16:56:32.255Z,1749142592.255 [DAT](INFO): DAT read: Rx Time:16:56:30.9789 

2025-06-05T16:56:32.257Z,1749142592.257 [DAT](INFO): Rx dataTimestamp_ set to:1749142592.256141
2025-06-05T16:56:32.260Z,1749142592.260 [DAT](INFO): DAT read: Bearing 186.3,   9.3 (Local)

2025-06-05T16:56:32.261Z,1749142592.261 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.3,   9.3 (Local)

2025-06-05T16:56:32.270Z,1749142592.270 [DAT](INFO): DAT read: Range 10 to 50 :    46.7 m (trip time 31.1 ms) speed -0.5

2025-06-05T16:56:32.283Z,1749142592.283 [DAT](INFO): DAT read: 16:56:30.9789 LVL= 26464, 28241, 19938, 32755, AGC= 67, IDX= 483, 0.34, 3.109,-1.005,-2.699,-2.471, PHS=-0.616, 1.513,-0.231, RAW= 320.2,  -6.8, CAL= 323.7,  -9.3, ROT= 186.3,   9.3

2025-06-05T16:56:32.284Z,1749142592.284 [DAT](INFO): got valid direction response:
 16:56:30.9789 LVL= 26464, 28241, 19938, 32755, AGC= 67, IDX= 483, 0.34, 3.109,-1.005,-2.699,-2.471, PHS=-0.616, 1.513,-0.231, RAW= 320.2,  -6.8, CAL= 323.7,  -9.3, ROT= 186.3,   9.3

2025-06-05T16:56:32.285Z,1749142592.285 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-06-05T16:56:32.286Z,1749142592.286 [DAT](INFO): direction in FSK: [-0.980896,-0.108292,-0.161604]
2025-06-05T16:56:32.294Z,1749142592.294 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:32.307Z,1749142592.307 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.136200
2025-06-05T16:56:32.401Z,1749142592.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.700001 m,
      deltaT: 0.506828 s,
      deltaX: 0.299999 m,
      approachRate: 0.591915 m/s,
      rangeRepo size: 4

2025-06-05T16:56:32.407Z,1749142592.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.311619 m,
      bearing: 141.012061 deg,
      lat: 36.906270 deg,
      lon: -122.115939 deg,
      deltaT: 0.506828 s,
      deltaX: 0.297676 m,
      approachRate: 0.587332 m/s,
      posRepo size: 4

2025-06-05T16:56:32.408Z,1749142592.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.31 m.
2025-06-05T16:56:32.503Z,1749142592.503 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.332485
2025-06-05T16:56:32.759Z,1749142592.759 [DAT](INFO): DAT read: Rx Time:16:56:31.4791 

2025-06-05T16:56:32.759Z,1749142592.759 [DAT](INFO): Rx dataTimestamp_ set to:1749142592.758848
2025-06-05T16:56:32.760Z,1749142592.760 [DAT](INFO): DAT read: Bearing 186.9,   8.2 (Local)

2025-06-05T16:56:32.761Z,1749142592.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.9,   8.2 (Local)

2025-06-05T16:56:32.763Z,1749142592.763 [DAT](INFO): DAT read: Range 10 to 50 :    47.1 m (trip time 31.4 ms) speed -0.6

2025-06-05T16:56:32.771Z,1749142592.771 [DAT](INFO): DAT read: 16:56:31.4791 LVL= 29616, 26289, 19314, 32755, AGC= 68, IDX= 503, 0.16,-2.338,-0.166,-1.843,-1.598, PHS=-0.652, 1.479,-0.248, RAW= 319.7,  -6.0, CAL= 323.1,  -8.2, ROT= 186.9,   8.2

2025-06-05T16:56:32.772Z,1749142592.772 [DAT](INFO): got valid direction response:
 16:56:31.4791 LVL= 29616, 26289, 19314, 32755, AGC= 68, IDX= 503, 0.16,-2.338,-0.166,-1.843,-1.598, PHS=-0.652, 1.479,-0.248, RAW= 319.7,  -6.0, CAL= 323.1,  -8.2, ROT= 186.9,   8.2

2025-06-05T16:56:32.773Z,1749142592.773 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-06-05T16:56:32.774Z,1749142592.774 [DAT](INFO): direction in FSK: [-0.982608,-0.118909,-0.142629]
2025-06-05T16:56:32.775Z,1749142592.775 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:32.779Z,1749142592.779 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.607803
2025-06-05T16:56:32.916Z,1749142592.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.099998 m,
      deltaT: 0.502707 s,
      deltaX: 0.399998 m,
      approachRate: 0.795688 m/s,
      rangeRepo size: 4

2025-06-05T16:56:32.938Z,1749142592.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.708286 m,
      bearing: 141.631067 deg,
      lat: 36.906270 deg,
      lon: -122.115939 deg,
      deltaT: 0.502707 s,
      deltaX: 0.396667 m,
      approachRate: 0.789063 m/s,
      posRepo size: 4

2025-06-05T16:56:32.939Z,1749142592.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.71 m.
2025-06-05T16:56:33.011Z,1749142593.011 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.839516
2025-06-05T16:56:33.262Z,1749142593.262 [DAT](INFO): DAT read: Rx Time:16:56:31.9793 

2025-06-05T16:56:33.263Z,1749142593.263 [DAT](INFO): Rx dataTimestamp_ set to:1749142593.262693
2025-06-05T16:56:33.266Z,1749142593.266 [DAT](INFO): DAT read: Bearing 186.2,   8.4 (Local)

2025-06-05T16:56:33.267Z,1749142593.267 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.2,   8.4 (Local)

2025-06-05T16:56:33.272Z,1749142593.272 [DAT](INFO): DAT read: Range 10 to 50 :    47.4 m (trip time 31.6 ms) speed -0.9

2025-06-05T16:56:33.285Z,1749142593.285 [DAT](INFO): DAT read: 16:56:31.9793 LVL= 26432, 31441, 1925, AGC= 65, IDX= 505, 0.14, 0.528, 2.785, 1.011, 1.277, PHS=-0.662, 1.555,-0.269, RAW= 320.5,  -6.1, CAL= 323.8,  -8.4, ROT= 186.2,   8.4

2025-06-05T16:56:33.286Z,1749142593.286 [DAT](INFO): unknown deviceResponse_: 16:56:31.9793 LVL= 26432, 31441, 1925, AGC= 65, IDX= 505, 0.14, 0.528, 2.785, 1.011, 1.277, PHS=-0.662, 1.555,-0.269, RAW= 320.5,  -6.1, CAL= 323.8,  -8.4, ROT= 186.2,   8.4

2025-06-05T16:56:33.287Z,1749142593.287 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-06-05T16:56:33.287Z,1749142593.287 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.116650
2025-06-05T16:56:33.488Z,1749142593.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.400002 m,
      deltaT: 0.503845 s,
      deltaX: 0.300003 m,
      approachRate: 0.595427 m/s,
      rangeRepo size: 4

2025-06-05T16:56:33.488Z,1749142593.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.71 m.
2025-06-05T16:56:33.517Z,1749142593.517 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.345886
2025-06-05T16:56:33.769Z,1749142593.769 [DAT](INFO): DAT read: Rx Time:16:56:32.4797 

2025-06-05T16:56:33.769Z,1749142593.769 [DAT](INFO): Rx dataTimestamp_ set to:1749142593.768910
2025-06-05T16:56:33.771Z,1749142593.771 [DAT](INFO): DAT read: Bearing 186.6,   8.3 (Local)

2025-06-05T16:56:33.772Z,1749142593.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.6,   8.3 (Local)

2025-06-05T16:56:33.775Z,1749142593.775 [DAT](INFO): DAT read: Range 10 to 50 :    48.0 m (trip time 32.0 ms) speed -0.7

2025-06-05T16:56:33.782Z,1749142593.782 [DAT](INFO): DAT read: 16:56:32.4797 LVL= 28096, 24561, 20898, 32755, AGC= 67, IDX= 493, 0.01, 0.928, 3.138, 1.421, 1.673, PHS=-0.657, 1.512,-0.254, RAW= 320.0,  -6.1, CAL= 323.4,  -8.3, ROT= 186.6,   8.3

2025-06-05T16:56:33.783Z,1749142593.783 [DAT](INFO): got valid direction response:
 16:56:32.4797 LVL= 28096, 24561, 20898, 32755, AGC= 67, IDX= 493, 0.01, 0.928, 3.138, 1.421, 1.673, PHS=-0.657, 1.512,-0.254, RAW= 320.0,  -6.1, CAL= 323.4,  -8.3, ROT= 186.6,   8.3

2025-06-05T16:56:33.784Z,1749142593.784 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-06-05T16:56:33.785Z,1749142593.785 [DAT](INFO): direction in FSK: [-0.982968,-0.113733,-0.144356]
2025-06-05T16:56:33.785Z,1749142593.785 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:33.827Z,1749142593.827 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.655910
2025-06-05T16:56:33.928Z,1749142593.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.000000 m,
      deltaT: 0.506217 s,
      deltaX: 0.599998 m,
      approachRate: 1.185259 m/s,
      rangeRepo size: 4

2025-06-05T16:56:33.935Z,1749142593.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.600567 m,
      bearing: 141.286588 deg,
      lat: 36.906270 deg,
      lon: -122.115937 deg,
      deltaT: 1.010062 s,
      deltaX: 0.892281 m,
      approachRate: 0.883392 m/s,
      posRepo size: 4

2025-06-05T16:56:33.935Z,1749142593.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.60 m.
2025-06-05T16:56:34.030Z,1749142594.030 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.857967
2025-06-05T16:56:34.283Z,1749142594.283 [DAT](INFO): DAT read: Rx Time:16:56:32.9799 

2025-06-05T16:56:34.284Z,1749142594.284 [DAT](INFO): Rx dataTimestamp_ set to:1749142594.283155
2025-06-05T16:56:34.288Z,1749142594.288 [DAT](INFO): DAT read: Bearing 186.3,   9.5 (Local)

2025-06-05T16:56:34.289Z,1749142594.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.3,   9.5 (Local)

2025-06-05T16:56:34.296Z,1749142594.296 [DAT](INFO): DAT read: Range 10 to 50 :    48.3 m (trip time 32.2 ms) speed -0.6

2025-06-05T16:56:34.305Z,1749142594.305 [DAT](INFO): DAT read: 16:56:32.9799 LVL= 25520, 24241, 26466, 32691, AGC= 67, IDX= 511,-0.32, 1.485,-2.561, 1.973, 2.205, PHS=-0.632, 1.564,-0.235, RAW= 320.2,  -6.9, CAL= 323.7,  -9.5, ROT= 186.3,   9.5

2025-06-05T16:56:34.310Z,1749142594.310 [DAT](INFO): got valid direction response:
 16:56:32.9799 LVL= 25520, 24241, 26466, 32691, AGC= 67, IDX= 511,-0.32, 1.485,-2.561, 1.973, 2.205, PHS=-0.632, 1.564,-0.235, RAW= 320.2,  -6.9, CAL= 323.7,  -9.5, ROT= 186.3,   9.5

2025-06-05T16:56:34.311Z,1749142594.311 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-06-05T16:56:34.312Z,1749142594.312 [DAT](INFO): direction in FSK: [-0.980329,-0.108230,-0.165048]
2025-06-05T16:56:34.312Z,1749142594.312 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:34.321Z,1749142594.321 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.149746
2025-06-05T16:56:34.378Z,1749142594.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.299999 m,
      deltaT: 0.514245 s,
      deltaX: 0.299999 m,
      approachRate: 0.583378 m/s,
      rangeRepo size: 4

2025-06-05T16:56:34.381Z,1749142594.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.897896 m,
      bearing: 140.945021 deg,
      lat: 36.906273 deg,
      lon: -122.115937 deg,
      deltaT: 0.514245 s,
      deltaX: 0.297329 m,
      approachRate: 0.578185 m/s,
      posRepo size: 4

2025-06-05T16:56:34.386Z,1749142594.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-06-05T16:56:34.529Z,1749142594.529 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.357792
2025-06-05T16:56:34.717Z,1749142594.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m.
2025-06-05T16:56:34.781Z,1749142594.781 [DAT](INFO): DAT read: Rx Time:16:56:33.4803 

2025-06-05T16:56:34.781Z,1749142594.781 [DAT](INFO): Rx dataTimestamp_ set to:1749142594.781126
2025-06-05T16:56:34.783Z,1749142594.783 [DAT](INFO): DAT read: Bearing 186.1,  10.1 (Local)

2025-06-05T16:56:34.784Z,1749142594.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.1,  10.1 (Local)

2025-06-05T16:56:34.787Z,1749142594.787 [DAT](INFO): DAT read: Range 10 to 50 :    48.9 m (trip time 32.6 ms) speed -0.5

2025-06-05T16:56:34.799Z,1749142594.799 [DAT](INFO): DAT read: 16:56:33.4803 LVL= 25648, 21857, 17426, 31571, AGC= 70, IDX=   2, 0.29,-0.085, 2.098, 0.389, 0.601, PHS=-0.598, 1.543,-0.216, RAW= 320.4,  -7.4, CAL= 323.9, -10.1, ROT= 186.1,  10.1

2025-06-05T16:56:34.800Z,1749142594.800 [DAT](INFO): got valid direction response:
 16:56:33.4803 LVL= 25648, 21857, 17426, 31571, AGC= 70, IDX=   2, 0.29,-0.085, 2.098, 0.389, 0.601, PHS=-0.598, 1.543,-0.216, RAW= 320.4,  -7.4, CAL= 323.9, -10.1, ROT= 186.1,  10.1

2025-06-05T16:56:34.801Z,1749142594.801 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-06-05T16:56:34.802Z,1749142594.802 [DAT](INFO): direction in FSK: [-0.978929,-0.104617,-0.175367]
2025-06-05T16:56:34.802Z,1749142594.802 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:34.851Z,1749142594.851 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.679760
2025-06-05T16:56:34.916Z,1749142594.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:56:35.034Z,1749142595.034 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.862637
2025-06-05T16:56:35.208Z,1749142595.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.900002 m,
      deltaT: 0.497971 s,
      deltaX: 0.600002 m,
      approachRate: 1.204894 m/s,
      rangeRepo size: 4

2025-06-05T16:56:35.210Z,1749142595.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.492508 m,
      bearing: 140.733266 deg,
      lat: 36.906273 deg,
      lon: -122.115937 deg,
      deltaT: 0.497971 s,
      deltaX: 0.594612 m,
      approachRate: 1.194070 m/s,
      posRepo size: 4

2025-06-05T16:56:35.210Z,1749142595.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.49 m.
2025-06-05T16:56:35.285Z,1749142595.285 [DAT](INFO): DAT read: Rx Time:16:56:33.9804 

2025-06-05T16:56:35.286Z,1749142595.286 [DAT](INFO): Rx dataTimestamp_ set to:1749142595.285452
2025-06-05T16:56:35.288Z,1749142595.288 [DAT](INFO): DAT read: Bearing 186.1,  10.1 (Local)

2025-06-05T16:56:35.289Z,1749142595.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.1,  10.1 (Local)

2025-06-05T16:56:35.293Z,1749142595.293 [DAT](INFO): DAT read: Range 10 to 50 :    49.1 m (trip time 32.7 ms) speed -0.7

2025-06-05T16:56:35.304Z,1749142595.304 [DAT](INFO): DAT read: 16:56:33.9804 LVL= 23312, 20433, 26994, 32755, AGC= 67, IDX= 500, 0.25,-2.676,-0.473,-2.199,-1.983, PHS=-0.605, 1.556,-0.219, RAW= 320.4,  -7.4, CAL= 323.9, -10.1, ROT= 186.1,  10.1

2025-06-05T16:56:35.307Z,1749142595.307 [DAT](INFO): got valid direction response:
 16:56:33.9804 LVL= 23312, 20433, 26994, 32755, AGC= 67, IDX= 500, 0.25,-2.676,-0.473,-2.199,-1.983, PHS=-0.605, 1.556,-0.219, RAW= 320.4,  -7.4, CAL= 323.9, -10.1, ROT= 186.1,  10.1

2025-06-05T16:56:35.307Z,1749142595.307 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-06-05T16:56:35.308Z,1749142595.308 [DAT](INFO): direction in FSK: [-0.978929,-0.104617,-0.175367]
2025-06-05T16:56:35.309Z,1749142595.309 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:35.312Z,1749142595.312 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.141338
2025-06-05T16:56:35.536Z,1749142595.536 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.365280
2025-06-05T16:56:35.629Z,1749142595.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.099998 m,
      deltaT: 0.504326 s,
      deltaX: 0.199997 m,
      approachRate: 0.396563 m/s,
      rangeRepo size: 4

2025-06-05T16:56:35.636Z,1749142595.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.690842 m,
      bearing: 140.730368 deg,
      lat: 36.906274 deg,
      lon: -122.115936 deg,
      deltaT: 0.504326 s,
      deltaX: 0.198334 m,
      approachRate: 0.393265 m/s,
      posRepo size: 4

2025-06-05T16:56:35.636Z,1749142595.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.69 m.
2025-06-05T16:56:35.791Z,1749142595.791 [DAT](INFO): DAT read: Rx Time:16:56:34.4807 

2025-06-05T16:56:35.792Z,1749142595.792 [DAT](INFO): Rx dataTimestamp_ set to:1749142595.791406
2025-06-05T16:56:35.793Z,1749142595.793 [DAT](INFO): DAT read: Bearing 185.3,  10.7 (Local)

2025-06-05T16:56:35.793Z,1749142595.793 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.3,  10.7 (Local)

2025-06-05T16:56:35.801Z,1749142595.801 [DAT](INFO): DAT read: Range 10 to 50 :    49.5 m (trip time 33.0 ms) speed -0.6

2025-06-05T16:56:35.846Z,1749142595.846 [DAT](INFO): DAT read: 16:56:34.4807 LVL= 23392, 21057, 20946, 32755, AGC= 67, IDX= 503, 0.08,-1.737, 0.418,-1.297,-1.083, PHS=-0.566, 1.547,-0.217, RAW= 321.1,  -7.8, CAL= 324.7, -10.7, ROT= 185.3,  10.7

2025-06-05T16:56:35.848Z,1749142595.848 [DAT](INFO): got valid direction response:
 16:56:34.4807 LVL= 23392, 21057, 20946, 32755, AGC= 67, IDX= 503, 0.08,-1.737, 0.418,-1.297,-1.083, PHS=-0.566, 1.547,-0.217, RAW= 321.1,  -7.8, CAL= 324.7, -10.7, ROT= 185.3,  10.7

2025-06-05T16:56:35.849Z,1749142595.849 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-05T16:56:35.850Z,1749142595.850 [DAT](INFO): direction in FSK: [-0.978412,-0.090765,-0.185667]
2025-06-05T16:56:35.864Z,1749142595.864 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:35.888Z,1749142595.888 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.716846
2025-06-05T16:56:35.918Z,1749142595.918 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:56:36.045Z,1749142596.045 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.873535
2025-06-05T16:56:36.129Z,1749142596.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.500000 m,
      deltaT: 0.505954 s,
      deltaX: 0.400002 m,
      approachRate: 0.790589 m/s,
      rangeRepo size: 4

2025-06-05T16:56:36.135Z,1749142596.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.086330 m,
      bearing: 139.936457 deg,
      lat: 36.906276 deg,
      lon: -122.115936 deg,
      deltaT: 0.505954 s,
      deltaX: 0.395489 m,
      approachRate: 0.781669 m/s,
      posRepo size: 4

2025-06-05T16:56:36.136Z,1749142596.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.09 m.
2025-06-05T16:56:36.292Z,1749142596.292 [DAT](INFO): DAT read: Rx Time:16:56:34.9809 

2025-06-05T16:56:36.292Z,1749142596.292 [DAT](INFO): Rx dataTimestamp_ set to:1749142596.292062
2025-06-05T16:56:36.294Z,1749142596.294 [DAT](INFO): DAT read: Bearing 185.6,  10.5 (Local)

2025-06-05T16:56:36.294Z,1749142596.294 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.6,  10.5 (Local)

2025-06-05T16:56:36.296Z,1749142596.296 [DAT](INFO): DAT read: Range 10 to 50 :    49.8 m (trip time 33.2 ms) speed -0.7

2025-06-05T16:56:36.301Z,1749142596.301 [DAT](INFO): DAT read: 16:56:34.9809 LVL= 20688, 21777, 17746, 31571, AGC= 69, IDX= 505, 0.03, 3.137,-0.926,-2.683,-2.465, PHS=-0.593, 1.586,-0.221, RAW= 320.8,  -7.7, CAL= 324.4, -10.5, ROT= 185.6,  10.5

2025-06-05T16:56:36.302Z,1749142596.302 [DAT](INFO): got valid direction response:
 16:56:34.9809 LVL= 20688, 21777, 17746, 31571, AGC= 69, IDX= 505, 0.03, 3.137,-0.926,-2.683,-2.465, PHS=-0.593, 1.586,-0.221, RAW= 320.8,  -7.7, CAL= 324.4, -10.5, ROT= 185.6,  10.5

2025-06-05T16:56:36.302Z,1749142596.302 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-06-05T16:56:36.304Z,1749142596.304 [DAT](INFO): direction in FSK: [-0.978562,-0.095949,-0.182236]
2025-06-05T16:56:36.304Z,1749142596.304 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:36.334Z,1749142596.334 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.162743
2025-06-05T16:56:36.544Z,1749142596.544 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.372974
2025-06-05T16:56:36.569Z,1749142596.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.799999 m,
      deltaT: 0.500656 s,
      deltaX: 0.299999 m,
      approachRate: 0.599212 m/s,
      rangeRepo size: 4

2025-06-05T16:56:36.590Z,1749142596.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.383823 m,
      bearing: 140.224404 deg,
      lat: 36.906277 deg,
      lon: -122.115936 deg,
      deltaT: 0.500656 s,
      deltaX: 0.297493 m,
      approachRate: 0.594206 m/s,
      posRepo size: 4

2025-06-05T16:56:36.596Z,1749142596.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.38 m.
2025-06-05T16:56:36.796Z,1749142596.796 [DAT](INFO): DAT read: Rx Time:16:56:35.4814 

2025-06-05T16:56:36.796Z,1749142596.796 [DAT](INFO): Rx dataTimestamp_ set to:1749142596.795806
2025-06-05T16:56:36.799Z,1749142596.799 [DAT](INFO): DAT read: Bearing 185.1,  11.3 (Local)

2025-06-05T16:56:36.799Z,1749142596.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.1,  11.3 (Local)

2025-06-05T16:56:36.801Z,1749142596.801 [DAT](INFO): DAT read: Range 10 to 50 :    50.4 m (trip time 33.6 ms) speed -0.5

2025-06-05T16:56:36.806Z,1749142596.806 [DAT](INFO): DAT read: 16:56:35.4814 LVL= 25152, 22305, 20434, 32755, AGC= 67, IDX= 509,-0.00,-2.806,-0.640,-2.367,-2.165, PHS=-0.552, 1.572,-0.205, RAW= 321.2,  -8.3, CAL= 324.9, -11.3, ROT= 185.1,  11.3

2025-06-05T16:56:36.807Z,1749142596.807 [DAT](INFO): got valid direction response:
 16:56:35.4814 LVL= 25152, 22305, 20434, 32755, AGC= 67, IDX= 509,-0.00,-2.806,-0.640,-2.367,-2.165, PHS=-0.552, 1.572,-0.205, RAW= 321.2,  -8.3, CAL= 324.9, -11.3, ROT= 185.1,  11.3

2025-06-05T16:56:36.807Z,1749142596.807 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-06-05T16:56:36.808Z,1749142596.808 [DAT](INFO): direction in FSK: [-0.976732,-0.087171,-0.195946]
2025-06-05T16:56:36.808Z,1749142596.808 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:36.812Z,1749142596.812 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.641453
2025-06-05T16:56:36.989Z,1749142596.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.400002 m,
      deltaT: 0.503744 s,
      deltaX: 0.600002 m,
      approachRate: 1.191086 m/s,
      rangeRepo size: 4

2025-06-05T16:56:36.997Z,1749142596.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.978813 m,
      bearing: 139.693461 deg,
      lat: 36.906280 deg,
      lon: -122.115933 deg,
      deltaT: 0.503744 s,
      deltaX: 0.594990 m,
      approachRate: 1.181135 m/s,
      posRepo size: 4

2025-06-05T16:56:37.002Z,1749142597.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.98 m.
2025-06-05T16:56:37.051Z,1749142597.051 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.879864
2025-06-05T16:56:37.301Z,1749142597.301 [DAT](INFO): DAT read: Rx Time:16:56:35.9816 

2025-06-05T16:56:37.301Z,1749142597.301 [DAT](INFO): Rx dataTimestamp_ set to:1749142597.300905
2025-06-05T16:56:37.303Z,1749142597.303 [DAT](INFO): DAT read: Bearing 185.6,  12.2 (Local)

2025-06-05T16:56:37.303Z,1749142597.303 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.6,  12.2 (Local)

2025-06-05T16:56:37.305Z,1749142597.305 [DAT](INFO): DAT read: Range 10 to 50 :    50.7 m (trip time 33.8 ms) speed -0.7

2025-06-05T16:56:37.312Z,1749142597.312 [DAT](INFO): DAT read: 16:56:35.9816 LVL= 21264, 22817, 17138, 31091, AGC= 69, IDX= 511,-0.02, 1.592,-2.531, 2.054, 2.220, PHS=-0.539, 1.580,-0.169, RAW= 320.6,  -8.9, CAL= 324.4, -12.2, ROT= 185.6,  12.2

2025-06-05T16:56:37.314Z,1749142597.314 [DAT](INFO): got valid direction response:
 16:56:35.9816 LVL= 21264, 22817, 17138, 31091, AGC= 69, IDX= 511,-0.02, 1.592,-2.531, 2.054, 2.220, PHS=-0.539, 1.580,-0.169, RAW= 320.6,  -8.9, CAL= 324.4, -12.2, ROT= 185.6,  12.2

2025-06-05T16:56:37.367Z,1749142597.367 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-06-05T16:56:37.370Z,1749142597.370 [DAT](INFO): direction in FSK: [-0.972751,-0.095379,-0.211325]
2025-06-05T16:56:37.385Z,1749142597.385 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:37.397Z,1749142597.397 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.226051
2025-06-05T16:56:37.509Z,1749142597.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.700001 m,
      deltaT: 0.505099 s,
      deltaX: 0.299999 m,
      approachRate: 0.593941 m/s,
      rangeRepo size: 4

2025-06-05T16:56:37.516Z,1749142597.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.275898 m,
      bearing: 140.139398 deg,
      lat: 36.906281 deg,
      lon: -122.115932 deg,
      deltaT: 0.505099 s,
      deltaX: 0.297085 m,
      approachRate: 0.588171 m/s,
      posRepo size: 4

2025-06-05T16:56:37.516Z,1749142597.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.28 m.
2025-06-05T16:56:37.552Z,1749142597.552 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.381191
2025-06-05T16:56:37.804Z,1749142597.804 [DAT](INFO): DAT read: Rx Time:16:56:36.4820 

2025-06-05T16:56:37.804Z,1749142597.804 [DAT](INFO): Rx dataTimestamp_ set to:1749142597.803975
2025-06-05T16:56:37.806Z,1749142597.806 [DAT](INFO): DAT read: Bearing 185.4,  13.0 (Local)

2025-06-05T16:56:37.806Z,1749142597.806 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.4,  13.0 (Local)

2025-06-05T16:56:37.808Z,1749142597.808 [DAT](INFO): DAT read: Range 10 to 50 :    51.3 m (trip time 34.2 ms) speed -0.5

2025-06-05T16:56:37.813Z,1749142597.813 [DAT](INFO): DAT read: 16:56:36.4820 LVL= 24768, 23281, 20530, 32755, AGC= 68, IDX=   3,-0.05, 2.117,-2.016, 2.570, 2.718, PHS=-0.513, 1.596,-0.151, RAW= 320.8,  -9.6, CAL= 324.6, -13.0, ROT= 185.4,  13.0

2025-06-05T16:56:37.814Z,1749142597.814 [DAT](INFO): got valid direction response:
 16:56:36.4820 LVL= 24768, 23281, 20530, 32755, AGC= 68, IDX=   3,-0.05, 2.117,-2.016, 2.570, 2.718, PHS=-0.513, 1.596,-0.151, RAW= 320.8,  -9.6, CAL= 324.6, -13.0, ROT= 185.4,  13.0

2025-06-05T16:56:37.815Z,1749142597.815 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-06-05T16:56:37.816Z,1749142597.816 [DAT](INFO): direction in FSK: [-0.970046,-0.091696,-0.224951]
2025-06-05T16:56:37.817Z,1749142597.817 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:37.820Z,1749142597.820 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.649494
2025-06-05T16:56:37.905Z,1749142597.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.299999 m,
      deltaT: 0.503070 s,
      deltaX: 0.599998 m,
      approachRate: 1.192674 m/s,
      rangeRepo size: 4

2025-06-05T16:56:37.912Z,1749142597.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.870880 m,
      bearing: 139.887442 deg,
      lat: 36.906282 deg,
      lon: -122.115930 deg,
      deltaT: 0.503070 s,
      deltaX: 0.594982 m,
      approachRate: 1.182703 m/s,
      posRepo size: 4

2025-06-05T16:56:37.913Z,1749142597.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.87 m.
2025-06-05T16:56:38.059Z,1749142598.059 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.887089
2025-06-05T16:56:38.170Z,1749142598.170 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:56:38.309Z,1749142598.309 [DAT](INFO): DAT read: Rx Time:16:56:36.9822 

2025-06-05T16:56:38.311Z,1749142598.311 [DAT](INFO): Rx dataTimestamp_ set to:1749142598.309712
2025-06-05T16:56:38.313Z,1749142598.313 [DAT](INFO): DAT read: Bearing 185.5,  11.7 (Local)

2025-06-05T16:56:38.313Z,1749142598.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.5,  11.7 (Local)

2025-06-05T16:56:38.317Z,1749142598.317 [DAT](INFO): DAT read: Range 10 to 50 :    51.6 m (trip time 34.4 ms) speed -0.7

2025-06-05T16:56:38.321Z,1749142598.321 [DAT](INFO): DAT read: 16:56:36.9822 LVL= 20976, 19393, 18162, 31107, AGC= 67, IDX= 501,-0.12, 0.734, 2.999, 1.208, 1.398, PHS=-0.576, 1.648,-0.194, RAW= 320.7,  -8.6, CAL= 324.5, -11.7, ROT= 185.5,  11.7

2025-06-05T16:56:38.327Z,1749142598.327 [DAT](INFO): got valid direction response:
 16:56:36.9822 LVL= 20976, 19393, 18162, 31107, AGC= 67, IDX= 501,-0.12, 0.734, 2.999, 1.208, 1.398, PHS=-0.576, 1.648,-0.194, RAW= 320.7,  -8.6, CAL= 324.5, -11.7, ROT= 185.5,  11.7

2025-06-05T16:56:38.327Z,1749142598.327 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-06-05T16:56:38.328Z,1749142598.328 [DAT](INFO): direction in FSK: [-0.974715,-0.093854,-0.202787]
2025-06-05T16:56:38.329Z,1749142598.329 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:38.336Z,1749142598.336 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.165421
2025-06-05T16:56:38.466Z,1749142598.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.599998 m,
      deltaT: 0.505737 s,
      deltaX: 0.299999 m,
      approachRate: 0.593192 m/s,
      rangeRepo size: 4

2025-06-05T16:56:38.468Z,1749142598.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.169014 m,
      bearing: 140.039753 deg,
      lat: 36.906282 deg,
      lon: -122.115929 deg,
      deltaT: 0.505737 s,
      deltaX: 0.298134 m,
      approachRate: 0.589504 m/s,
      posRepo size: 4

2025-06-05T16:56:38.469Z,1749142598.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.17 m.
2025-06-05T16:56:38.559Z,1749142598.559 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.388458
2025-06-05T16:56:38.812Z,1749142598.812 [DAT](INFO): DAT read: Rx Time:16:56:37.4826 

2025-06-05T16:56:38.812Z,1749142598.812 [DAT](INFO): Rx dataTimestamp_ set to:1749142598.811906
2025-06-05T16:56:38.813Z,1749142598.813 [DAT](INFO): DAT read: Bearing 185.1,  11.9 (Local)

2025-06-05T16:56:38.814Z,1749142598.814 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.1,  11.9 (Local)

2025-06-05T16:56:38.817Z,1749142598.817 [DAT](INFO): DAT read: Range 10 to 50 :    52.2 m (trip time 34.8 ms) speed -0.7

2025-06-05T16:56:38.821Z,1749142598.821 [DAT](INFO): DAT read: 16:56:37.4826 LVL= 25536, 23537, 21586, 32755, AGC= 69, IDX= 505,-0.18, 1.898,-2.183, 2.344, 2.534, PHS=-0.548, 1.614,-0.193, RAW= 321.2,  -8.7, CAL= 324.9, -11.9, ROT= 185.1,  11.9

2025-06-05T16:56:38.823Z,1749142598.823 [DAT](INFO): got valid direction response:
 16:56:37.4826 LVL= 25536, 23537, 21586, 32755, AGC= 69, IDX= 505,-0.18, 1.898,-2.183, 2.344, 2.534, PHS=-0.548, 1.614,-0.193, RAW= 321.2,  -8.7, CAL= 324.9, -11.9, ROT= 185.1,  11.9

2025-06-05T16:56:38.823Z,1749142598.823 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-06-05T16:56:38.824Z,1749142598.824 [DAT](INFO): direction in FSK: [-0.974635,-0.086984,-0.206204]
2025-06-05T16:56:38.824Z,1749142598.824 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:38.828Z,1749142598.828 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.657322
2025-06-05T16:56:38.988Z,1749142598.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.200001 m,
      deltaT: 0.502194 s,
      deltaX: 0.600002 m,
      approachRate: 1.194762 m/s,
      rangeRepo size: 4

2025-06-05T16:56:38.997Z,1749142598.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.764008 m,
      bearing: 139.659053 deg,
      lat: 36.906282 deg,
      lon: -122.115929 deg,
      deltaT: 0.502194 s,
      deltaX: 0.594994 m,
      approachRate: 1.184788 m/s,
      posRepo size: 4

2025-06-05T16:56:39.003Z,1749142599.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.76 m.
2025-06-05T16:56:39.069Z,1749142599.069 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.897053
2025-06-05T16:56:39.316Z,1749142599.316 [DAT](INFO): DAT read: Rx Time:16:56:37.9828 

2025-06-05T16:56:39.316Z,1749142599.316 [DAT](INFO): Rx dataTimestamp_ set to:1749142599.315998
2025-06-05T16:56:39.318Z,1749142599.318 [DAT](INFO): DAT read: Bearing 185.9,  13.9 (Local)

2025-06-05T16:56:39.318Z,1749142599.318 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.9,  13.9 (Local)

2025-06-05T16:56:39.320Z,1749142599.320 [DAT](INFO): DAT read: Range 10 to 50 :    52.5 m (trip time 35.0 ms) speed -0.7

2025-06-05T16:56:39.327Z,1749142599.327 [DAT](INFO): DAT read: 16:56:37.9828 LVL= 22432, 21489, 20802, 32755, AGC= 68, IDX= 507,-0.23, 0.593, 2.694, 1.061, 1.170, PHS=-0.488, 1.571,-0.112, RAW= 320.1, -10.2, CAL= 324.1, -13.9, ROT= 185.9,  13.9

2025-06-05T16:56:39.329Z,1749142599.329 [DAT](INFO): got valid direction response:
 16:56:37.9828 LVL= 22432, 21489, 20802, 32755, AGC= 68, IDX= 507,-0.23, 0.593, 2.694, 1.061, 1.170, PHS=-0.488, 1.571,-0.112, RAW= 320.1, -10.2, CAL= 324.1, -13.9, ROT= 185.9,  13.9

2025-06-05T16:56:39.329Z,1749142599.329 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-06-05T16:56:39.335Z,1749142599.335 [DAT](INFO): direction in FSK: [-0.965574,-0.099782,-0.240228]
2025-06-05T16:56:39.335Z,1749142599.335 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:39.372Z,1749142599.372 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.200951
2025-06-05T16:56:39.463Z,1749142599.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.500000 m,
      deltaT: 0.504092 s,
      deltaX: 0.299999 m,
      approachRate: 0.595128 m/s,
      rangeRepo size: 4

2025-06-05T16:56:39.472Z,1749142599.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.062504 m,
      bearing: 140.422659 deg,
      lat: 36.906282 deg,
      lon: -122.115929 deg,
      deltaT: 0.504092 s,
      deltaX: 0.298496 m,
      approachRate: 0.592146 m/s,
      posRepo size: 4

2025-06-05T16:56:39.473Z,1749142599.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.06 m.
2025-06-05T16:56:39.570Z,1749142599.570 [DAT](INFO): DAT read: Rx Time:16:56:38.4831 

2025-06-05T16:56:39.572Z,1749142599.572 [DAT](INFO): Rx dataTimestamp_ set to:1749142599.570595
2025-06-05T16:56:39.578Z,1749142599.578 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.402824
2025-06-05T16:56:39.820Z,1749142599.820 [DAT](INFO): DAT read: Bearing 185.7,  14.0 (Local)

2025-06-05T16:56:39.820Z,1749142599.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.7,  14.0 (Local)

2025-06-05T16:56:39.822Z,1749142599.822 [DAT](INFO): DAT read: Range 10 to 50 :    53.0 m (trip time 35.3 ms) speed -0.5

2025-06-05T16:56:39.827Z,1749142599.827 [DAT](INFO): DAT read: 16:56:38.4831 LVL= 26192, 20465, 21778, 32755, AGC= 69, IDX= 510,-0.35, 0.826, 2.938, 1.291, 1.402, PHS=-0.487, 1.583,-0.114, RAW= 320.2, -10.3, CAL= 324.3, -14.0, ROT= 185.7,  14.0

2025-06-05T16:56:39.828Z,1749142599.828 [DAT](INFO): got valid direction response:
 16:56:38.4831 LVL= 26192, 20465, 21778, 32755, AGC= 69, IDX= 510,-0.35, 0.826, 2.938, 1.291, 1.402, PHS=-0.487, 1.583,-0.114, RAW= 320.2, -10.3, CAL= 324.3, -14.0, ROT= 185.7,  14.0

2025-06-05T16:56:39.828Z,1749142599.828 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-06-05T16:56:39.829Z,1749142599.829 [DAT](INFO): direction in FSK: [-0.965498,-0.096370,-0.241922]
2025-06-05T16:56:39.829Z,1749142599.829 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:39.834Z,1749142599.834 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.663204
2025-06-05T16:56:39.887Z,1749142599.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.000000 m,
      deltaT: 0.502700 s,
      deltaX: 0.500000 m,
      approachRate: 0.994629 m/s,
      rangeRepo size: 4

2025-06-05T16:56:39.896Z,1749142599.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.558338 m,
      bearing: 140.271605 deg,
      lat: 36.906281 deg,
      lon: -122.115929 deg,
      deltaT: 0.502700 s,
      deltaX: 0.495834 m,
      approachRate: 0.986342 m/s,
      posRepo size: 4

2025-06-05T16:56:39.897Z,1749142599.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.56 m.
2025-06-05T16:56:40.141Z,1749142600.141 [DAT](INFO): DAT read: Rx Time:16:56:38.9832 

2025-06-05T16:56:40.141Z,1749142600.141 [DAT](INFO): Rx dataTimestamp_ set to:1749142600.140918
2025-06-05T16:56:40.142Z,1749142600.142 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.970966
2025-06-05T16:56:40.207Z,1749142600.207 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:56:40.298Z,1749142600.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:56:40.300Z,1749142600.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.56 m.
2025-06-05T16:56:40.396Z,1749142600.396 [DAT](INFO): DAT read: Bearing 185.6,  13.3 (Local)

2025-06-05T16:56:40.397Z,1749142600.397 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.6,  13.3 (Local)

2025-06-05T16:56:40.402Z,1749142600.402 [DAT](INFO): DAT read: Range 10 to 50 :    53.1 m (trip time 35.4 ms) speed -0.6

2025-06-05T16:56:40.407Z,1749142600.407 [DAT](INFO): DAT read: 16:56:38.9832 LVL= 25216, 21105, 20210, 31923, AGC= 67, IDX= 511, 0.38, 1.527,-2.617, 1.988, 2.122, PHS=-0.506, 1.591,-0.137, RAW= 320.5,  -9.8, CAL= 324.4, -13.3, ROT= 185.6,  13.3

2025-06-05T16:56:40.408Z,1749142600.408 [DAT](INFO): got valid direction response:
 16:56:38.9832 LVL= 25216, 21105, 20210, 31923, AGC= 67, IDX= 511, 0.38, 1.527,-2.617, 1.988, 2.122, PHS=-0.506, 1.591,-0.137, RAW= 320.5,  -9.8, CAL= 324.4, -13.3, ROT= 185.6,  13.3

2025-06-05T16:56:40.408Z,1749142600.408 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-06-05T16:56:40.409Z,1749142600.409 [DAT](INFO): direction in FSK: [-0.968534,-0.094966,-0.230050]
2025-06-05T16:56:40.409Z,1749142600.409 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:40.414Z,1749142600.414 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.242710
2025-06-05T16:56:40.644Z,1749142600.644 [DAT](INFO): DAT read: Rx Time:16:56:39.4835 

2025-06-05T16:56:40.644Z,1749142600.644 [DAT](INFO): Rx dataTimestamp_ set to:1749142600.643970
2025-06-05T16:56:40.645Z,1749142600.645 [DAT](INFO): DAT read: Bearing 186.0,  10.3 (Local)

2025-06-05T16:56:40.646Z,1749142600.646 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.0,  10.3 (Local)

2025-06-05T16:56:40.649Z,1749142600.649 [DAT](INFO): DAT read: Range 10 to 50 :    53.7 m (trip time 35.8 ms) speed -0.5

2025-06-05T16:56:40.661Z,1749142600.661 [DAT](INFO): DAT read: 16:56:39.4835 LVL= 26144, 25441, 25666, 32755, AGC= 68, IDX=   3, 0.15,-2.776,-0.573,-2.301,-2.089, PHS=-0.599, 1.562,-0.215, RAW= 320.4,  -7.5, CAL= 324.0, -10.3, ROT= 186.0,  10.3

2025-06-05T16:56:40.662Z,1749142600.662 [DAT](INFO): got valid direction response:
 16:56:39.4835 LVL= 26144, 25441, 25666, 32755, AGC= 68, IDX=   3, 0.15,-2.776,-0.573,-2.301,-2.089, PHS=-0.599, 1.562,-0.215, RAW= 320.4,  -7.5, CAL= 324.0, -10.3, ROT= 186.0,  10.3

2025-06-05T16:56:40.666Z,1749142600.666 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-06-05T16:56:40.667Z,1749142600.667 [DAT](INFO): direction in FSK: [-0.978495,-0.102844,-0.178802]
2025-06-05T16:56:40.667Z,1749142600.667 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:40.679Z,1749142600.679 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.508251
2025-06-05T16:56:40.705Z,1749142600.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.700001 m,
      deltaT: 0.825272 s,
      deltaX: 0.700001 m,
      approachRate: 0.848206 m/s,
      rangeRepo size: 4

2025-06-05T16:56:40.712Z,1749142600.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.253239 m,
      bearing: 140.779728 deg,
      lat: 36.906281 deg,
      lon: -122.115929 deg,
      deltaT: 0.825272 s,
      deltaX: 0.694901 m,
      approachRate: 0.842026 m/s,
      posRepo size: 4

2025-06-05T16:56:40.713Z,1749142600.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.25 m.
2025-06-05T16:56:40.895Z,1749142600.895 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.724621
2025-06-05T16:56:41.149Z,1749142601.149 [DAT](INFO): DAT read: Rx Time:16:56:39.9837 

2025-06-05T16:56:41.149Z,1749142601.149 [DAT](INFO): Rx dataTimestamp_ set to:1749142601.149118
2025-06-05T16:56:41.151Z,1749142601.151 [DAT](INFO): DAT read: Bearing 185.8,  12.2 (Local)

2025-06-05T16:56:41.151Z,1749142601.151 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.8,  12.2 (Local)

2025-06-05T16:56:41.153Z,1749142601.153 [DAT](INFO): DAT read: Range 10 to 50 :    54.0 m (trip time 36.0 ms) speed -0.9

2025-06-05T16:56:41.158Z,1749142601.158 [DAT](INFO): DAT read: 16:56:39.9837 LVL= 25120, 20401, 16930, 31891, AGC= 67, IDX= 501,-0.01, 1.301,-2.880, 1.758, 1.916, PHS=-0.527, 1.534,-0.161, RAW= 320.4,  -8.9, CAL= 324.2, -12.2, ROT= 185.8,  12.2

2025-06-05T16:56:41.159Z,1749142601.159 [DAT](INFO): got valid direction response:
 16:56:39.9837 LVL= 25120, 20401, 16930, 31891, AGC= 67, IDX= 501,-0.01, 1.301,-2.880, 1.758, 1.916, PHS=-0.527, 1.534,-0.161, RAW= 320.4,  -8.9, CAL= 324.2, -12.2, ROT= 185.8,  12.2

2025-06-05T16:56:41.159Z,1749142601.159 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-06-05T16:56:41.160Z,1749142601.160 [DAT](INFO): direction in FSK: [-0.972412,-0.098774,-0.211325]
2025-06-05T16:56:41.161Z,1749142601.161 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:41.165Z,1749142601.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.000000 m,
      deltaT: 0.505148 s,
      deltaX: 0.299999 m,
      approachRate: 0.593884 m/s,
      rangeRepo size: 4

2025-06-05T16:56:41.169Z,1749142601.169 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.997704
2025-06-05T16:56:41.170Z,1749142601.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.25 m.
2025-06-05T16:56:41.402Z,1749142601.402 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.230461
2025-06-05T16:56:41.521Z,1749142601.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.25 m.
2025-06-05T16:56:41.652Z,1749142601.652 [DAT](INFO): DAT read: Rx Time:16:56:40.4841 

2025-06-05T16:56:41.652Z,1749142601.652 [DAT](INFO): Rx dataTimestamp_ set to:1749142601.651932
2025-06-05T16:56:41.653Z,1749142601.653 [DAT](INFO): DAT read: Bearing 186.0,  13.2 (Local)

2025-06-05T16:56:41.654Z,1749142601.654 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.0,  13.2 (Local)

2025-06-05T16:56:41.656Z,1749142601.656 [DAT](INFO): DAT read: Range 10 to 50 :    54.6 m (trip time 36.4 ms) speed -0.5

2025-06-05T16:56:41.660Z,1749142601.660 [DAT](INFO): DAT read: 16:56:40.4841 LVL= 25552, 23345, 19794, 32755, AGC= 67, IDX= 489,-0.20, 1.869,-2.346, 2.333, 2.455, PHS=-0.498, 1.529,-0.125, RAW= 320.0,  -9.7, CAL= 324.0, -13.2, ROT= 186.0,  13.2

2025-06-05T16:56:41.661Z,1749142601.661 [DAT](INFO): got valid direction response:
 16:56:40.4841 LVL= 25552, 23345, 19794, 32755, AGC= 67, IDX= 489,-0.20, 1.869,-2.346, 2.333, 2.455, PHS=-0.498, 1.529,-0.125, RAW= 320.0,  -9.7, CAL= 324.0, -13.2, ROT= 186.0,  13.2

2025-06-05T16:56:41.662Z,1749142601.662 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-06-05T16:56:41.663Z,1749142601.663 [DAT](INFO): direction in FSK: [-0.968246,-0.101767,-0.228351]
2025-06-05T16:56:41.663Z,1749142601.663 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:41.668Z,1749142601.668 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.497086
2025-06-05T16:56:41.877Z,1749142601.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.599998 m,
      deltaT: 0.502814 s,
      deltaX: 0.599998 m,
      approachRate: 1.193281 m/s,
      rangeRepo size: 4

2025-06-05T16:56:41.879Z,1749142601.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.145992 m,
      bearing: 140.754428 deg,
      lat: 36.906279 deg,
      lon: -122.115931 deg,
      deltaT: 1.007962 s,
      deltaX: 0.892754 m,
      approachRate: 0.885702 m/s,
      posRepo size: 4

2025-06-05T16:56:41.880Z,1749142601.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.15 m.
2025-06-05T16:56:41.903Z,1749142601.903 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.732410
2025-06-05T16:56:42.160Z,1749142602.160 [DAT](INFO): DAT read: Rx Time:16:56:40.9842 

2025-06-05T16:56:42.162Z,1749142602.162 [DAT](INFO): Rx dataTimestamp_ set to:1749142602.160386
2025-06-05T16:56:42.167Z,1749142602.167 [DAT](INFO): DAT read: Bearing 186.0,  12.8 (Local)

2025-06-05T16:56:42.168Z,1749142602.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.0,  12.8 (Local)

2025-06-05T16:56:42.170Z,1749142602.170 [DAT](INFO): DAT read: Range 10 to 50 :    54.8 m (trip time 36.5 ms) speed -0.6

2025-06-05T16:56:42.175Z,1749142602.175 [DAT](INFO): DAT read: 16:56:40.9842 LVL= 27632, 21425, 22066, 32755, AGC= 67, IDX= 506, 0.30,-2.739,-0.641,-2.272,-2.136, PHS=-0.515, 1.541,-0.140, RAW= 320.1,  -9.4, CAL= 324.0, -12.8, ROT= 186.0,  12.8

2025-06-05T16:56:42.176Z,1749142602.176 [DAT](INFO): got valid direction response:
 16:56:40.9842 LVL= 27632, 21425, 22066, 32755, AGC= 67, IDX= 506, 0.30,-2.739,-0.641,-2.272,-2.136, PHS=-0.515, 1.541,-0.140, RAW= 320.1,  -9.4, CAL= 324.0, -12.8, ROT= 186.0,  12.8

2025-06-05T16:56:42.176Z,1749142602.176 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-06-05T16:56:42.177Z,1749142602.177 [DAT](INFO): direction in FSK: [-0.969807,-0.101931,-0.221548]
2025-06-05T16:56:42.177Z,1749142602.177 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:42.181Z,1749142602.181 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.010113
2025-06-05T16:56:42.361Z,1749142602.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.799999 m,
      deltaT: 0.508454 s,
      deltaX: 0.200001 m,
      approachRate: 0.393351 m/s,
      rangeRepo size: 4

2025-06-05T16:56:42.367Z,1749142602.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.344475 m,
      bearing: 140.772783 deg,
      lat: 36.906277 deg,
      lon: -122.115931 deg,
      deltaT: 0.508454 s,
      deltaX: 0.198483 m,
      approachRate: 0.390365 m/s,
      posRepo size: 4

2025-06-05T16:56:42.368Z,1749142602.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.34 m.
2025-06-05T16:56:42.408Z,1749142602.408 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.237179
2025-06-05T16:56:42.660Z,1749142602.660 [DAT](INFO): DAT read: Rx Time:16:56:41.4846 

2025-06-05T16:56:42.660Z,1749142602.660 [DAT](INFO): Rx dataTimestamp_ set to:1749142602.659929
2025-06-05T16:56:42.661Z,1749142602.661 [DAT](INFO): DAT read: Bearing 186.4,  12.8 (Local)

2025-06-05T16:56:42.662Z,1749142602.662 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.4,  12.8 (Local)

2025-06-05T16:56:42.665Z,1749142602.665 [DAT](INFO): DAT read: Range 10 to 50 :    55.4 m (trip time 36.9 ms) speed -0.6

2025-06-05T16:56:42.670Z,1749142602.670 [DAT](INFO): DAT read: 16:56:41.4846 LVL= 23216, 24929, 16754, 32755, AGC= 66, IDX= 509, 0.01, 2.724,-1.464,-3.075,-2.952, PHS=-0.519, 1.535,-0.126, RAW= 319.6,  -9.5, CAL= 323.6, -12.8, ROT= 186.4,  12.8

2025-06-05T16:56:42.673Z,1749142602.673 [DAT](INFO): got valid direction response:
 16:56:41.4846 LVL= 23216, 24929, 16754, 32755, AGC= 66, IDX= 509, 0.01, 2.724,-1.464,-3.075,-2.952, PHS=-0.519, 1.535,-0.126, RAW= 319.6,  -9.5, CAL= 323.6, -12.8, ROT= 186.4,  12.8

2025-06-05T16:56:42.673Z,1749142602.673 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-06-05T16:56:42.678Z,1749142602.678 [DAT](INFO): direction in FSK: [-0.969072,-0.108699,-0.221548]
2025-06-05T16:56:42.679Z,1749142602.679 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:42.683Z,1749142602.683 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.512428
2025-06-05T16:56:42.792Z,1749142602.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.400002 m,
      deltaT: 0.499543 s,
      deltaX: 0.600002 m,
      approachRate: 1.201102 m/s,
      rangeRepo size: 4

2025-06-05T16:56:42.799Z,1749142602.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.939487 m,
      bearing: 141.236271 deg,
      lat: 36.906277 deg,
      lon: -122.115932 deg,
      deltaT: 0.499543 s,
      deltaX: 0.595013 m,
      approachRate: 1.191114 m/s,
      posRepo size: 4

2025-06-05T16:56:42.800Z,1749142602.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.94 m.
2025-06-05T16:56:42.912Z,1749142602.912 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.741032
2025-06-05T16:56:43.171Z,1749142603.171 [DAT](INFO): DAT read: Rx Time:16:56:41.9848 

2025-06-05T16:56:43.172Z,1749142603.172 [DAT](INFO): Rx dataTimestamp_ set to:1749142603.171452
2025-06-05T16:56:43.173Z,1749142603.173 [DAT](INFO): DAT read: Bearing 185.9,  14.0 (Local)

2025-06-05T16:56:43.173Z,1749142603.173 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.9,  14.0 (Local)

2025-06-05T16:56:43.176Z,1749142603.176 [DAT](INFO): DAT read: Range 10 to 50 :    55.7 m (trip time 37.1 ms) speed -0.7

2025-06-05T16:56:43.192Z,1749142603.192 [DAT](INFO): DAT read: 16:56:41.9848 LVL= 25232, 23601, 24226, 32755, AGC= 66, IDX= 511,-0.21,-0.389, 1.662, 0.070, 0.173, PHS=-0.474, 1.536,-0.106, RAW= 320.1, -10.3, CAL= 324.1, -14.0, ROT= 185.9,  14.0

2025-06-05T16:56:43.193Z,1749142603.193 [DAT](INFO): got valid direction response:
 16:56:41.9848 LVL= 25232, 23601, 24226, 32755, AGC= 66, IDX= 511,-0.21,-0.389, 1.662, 0.070, 0.173, PHS=-0.474, 1.536,-0.106, RAW= 320.1, -10.3, CAL= 324.1, -14.0, ROT= 185.9,  14.0

2025-06-05T16:56:43.194Z,1749142603.194 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-06-05T16:56:43.203Z,1749142603.203 [DAT](INFO): direction in FSK: [-0.965156,-0.099739,-0.241922]
2025-06-05T16:56:43.203Z,1749142603.203 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:43.219Z,1749142603.219 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.048042
2025-06-05T16:56:43.342Z,1749142603.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.700001 m,
      deltaT: 0.511523 s,
      deltaX: 0.299999 m,
      approachRate: 0.586482 m/s,
      rangeRepo size: 4

2025-06-05T16:56:43.344Z,1749142603.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.237106 m,
      bearing: 140.728948 deg,
      lat: 36.906277 deg,
      lon: -122.115932 deg,
      deltaT: 0.511523 s,
      deltaX: 0.297619 m,
      approachRate: 0.581829 m/s,
      posRepo size: 4

2025-06-05T16:56:43.345Z,1749142603.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.24 m.
2025-06-05T16:56:43.420Z,1749142603.420 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.249130
2025-06-05T16:56:43.669Z,1749142603.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.24 m.
2025-06-05T16:56:43.672Z,1749142603.672 [DAT](INFO): DAT read: Rx Time:16:56:42.4851 

2025-06-05T16:56:43.672Z,1749142603.672 [DAT](INFO): Rx dataTimestamp_ set to:1749142603.672218
2025-06-05T16:56:43.674Z,1749142603.674 [DAT](INFO): DAT read: Bearing 186.0,  13.3 (Local)

2025-06-05T16:56:43.675Z,1749142603.675 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.0,  13.3 (Local)

2025-06-05T16:56:43.677Z,1749142603.677 [DAT](INFO): DAT read: Range 10 to 50 :    56.1 m (trip time 37.4 ms) speed -0.5

2025-06-05T16:56:43.687Z,1749142603.687 [DAT](INFO): DAT read: 16:56:42.4851 LVL= 25312, 21633, 17906, 30931, AGC= 65, IDX=   2, 0.39, 1.560,-2.618, 2.030, 2.153, PHS=-0.505, 1.559,-0.126, RAW= 320.1,  -9.8, CAL= 324.0, -13.3, ROT= 186.0,  13.3

2025-06-05T16:56:43.688Z,1749142603.688 [DAT](INFO): got valid direction response:
 16:56:42.4851 LVL= 25312, 21633, 17906, 30931, AGC= 65, IDX=   2, 0.39, 1.560,-2.618, 2.030, 2.153, PHS=-0.505, 1.559,-0.126, RAW= 320.1,  -9.8, CAL= 324.0, -13.3, ROT= 186.0,  13.3

2025-06-05T16:56:43.688Z,1749142603.688 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-06-05T16:56:43.689Z,1749142603.689 [DAT](INFO): direction in FSK: [-0.967848,-0.101725,-0.230050]
2025-06-05T16:56:43.689Z,1749142603.689 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:43.709Z,1749142603.709 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.538269
2025-06-05T16:56:43.924Z,1749142603.924 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.753250
2025-06-05T16:56:44.080Z,1749142604.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.099998 m,
      deltaT: 0.500766 s,
      deltaX: 0.399998 m,
      approachRate: 0.798772 m/s,
      rangeRepo size: 4

2025-06-05T16:56:44.107Z,1749142604.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.633781 m,
      bearing: 140.969629 deg,
      lat: 36.906277 deg,
      lon: -122.115932 deg,
      deltaT: 0.500766 s,
      deltaX: 0.396675 m,
      approachRate: 0.792137 m/s,
      posRepo size: 4

2025-06-05T16:56:44.108Z,1749142604.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.63 m.
2025-06-05T16:56:44.180Z,1749142604.180 [DAT](INFO): DAT read: Rx Time:16:56:42.9853 

2025-06-05T16:56:44.181Z,1749142604.181 [DAT](INFO): Rx dataTimestamp_ set to:1749142604.180331
2025-06-05T16:56:44.187Z,1749142604.187 [DAT](INFO): DAT read: Bearing 185.8,  12.8 (Local)

2025-06-05T16:56:44.188Z,1749142604.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.8,  12.8 (Local)

2025-06-05T16:56:44.200Z,1749142604.200 [DAT](INFO): DAT read: Range 10 to 50 :    56.3 m (trip time 37.5 ms) speed -0.7

2025-06-05T16:56:44.209Z,1749142604.209 [DAT](INFO): DAT read: 16:56:42.9853 LVL= 28496, 20465, 20402, 32755, AGC= 66, IDX= 500,-0.06,-0.208, 1.888, 0.251, 0.391, PHS=-0.511, 1.544,-0.143, RAW= 320.3,  -9.4, CAL= 324.2, -12.8, ROT= 185.8,  12.8

2025-06-05T16:56:44.222Z,1749142604.222 [DAT](INFO): got valid direction response:
 16:56:42.9853 LVL= 28496, 20465, 20402, 32755, AGC= 66, IDX= 500,-0.06,-0.208, 1.888, 0.251, 0.391, PHS=-0.511, 1.544,-0.143, RAW= 320.3,  -9.4, CAL= 324.2, -12.8, ROT= 185.8,  12.8

2025-06-05T16:56:44.223Z,1749142604.223 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-06-05T16:56:44.224Z,1749142604.224 [DAT](INFO): direction in FSK: [-0.970157,-0.098545,-0.221548]
2025-06-05T16:56:44.224Z,1749142604.224 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:44.233Z,1749142604.233 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.061810
2025-06-05T16:56:44.428Z,1749142604.428 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.256886
2025-06-05T16:56:44.651Z,1749142604.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.299999 m,
      deltaT: 0.508113 s,
      deltaX: 0.200001 m,
      approachRate: 0.393615 m/s,
      rangeRepo size: 4

2025-06-05T16:56:44.653Z,1749142604.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.832314 m,
      bearing: 140.796002 deg,
      lat: 36.906277 deg,
      lon: -122.115934 deg,
      deltaT: 0.508113 s,
      deltaX: 0.198532 m,
      approachRate: 0.390724 m/s,
      posRepo size: 4

2025-06-05T16:56:44.654Z,1749142604.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.83 m.
2025-06-05T16:56:44.680Z,1749142604.680 [DAT](INFO): DAT read: Rx Time:16:56:43.4857 

2025-06-05T16:56:44.680Z,1749142604.680 [DAT](INFO): Rx dataTimestamp_ set to:1749142604.679998
2025-06-05T16:56:44.683Z,1749142604.683 [DAT](INFO): DAT read: Bearing 186.3,  11.2 (Local)

2025-06-05T16:56:44.683Z,1749142604.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.3,  11.2 (Local)

2025-06-05T16:56:44.685Z,1749142604.685 [DAT](INFO): DAT read: Range 10 to 50 :    56.9 m (trip time 37.9 ms) speed -0.6

2025-06-05T16:56:44.692Z,1749142604.692 [DAT](INFO): DAT read: 16:56:43.4857 LVL= 29872, 24433, 24866, 32755, AGC= 66, IDX= 504,-0.33,-0.245, 1.885, 0.231, 0.406, PHS=-0.564, 1.525,-0.178, RAW= 320.0,  -8.2, CAL= 323.7, -11.2, ROT= 186.3,  11.2

2025-06-05T16:56:44.693Z,1749142604.693 [DAT](INFO): got valid direction response:
 16:56:43.4857 LVL= 29872, 24433, 24866, 32755, AGC= 66, IDX= 504,-0.33,-0.245, 1.885, 0.231, 0.406, PHS=-0.564, 1.525,-0.178, RAW= 320.0,  -8.2, CAL= 323.7, -11.2, ROT= 186.3,  11.2

2025-06-05T16:56:44.693Z,1749142604.693 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-06-05T16:56:44.695Z,1749142604.695 [DAT](INFO): direction in FSK: [-0.975031,-0.107645,-0.194234]
2025-06-05T16:56:44.695Z,1749142604.695 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:44.704Z,1749142604.704 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.533230
2025-06-05T16:56:44.933Z,1749142604.933 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.761772
2025-06-05T16:56:45.188Z,1749142605.188 [DAT](INFO): DAT read: Rx Time:16:56:43.9858 

2025-06-05T16:56:45.189Z,1749142605.189 [DAT](INFO): Rx dataTimestamp_ set to:1749142605.188333
2025-06-05T16:56:45.194Z,1749142605.194 [DAT](INFO): DAT read: Bearing 186.1,  10.7 (Local)

2025-06-05T16:56:45.195Z,1749142605.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.1,  10.7 (Local)

2025-06-05T16:56:45.207Z,1749142605.207 [DAT](INFO): DAT read: Range 10 to 50 :    57.0 m (trip time 38.0 ms) speed -0.8

2025-06-05T16:56:45.220Z,1749142605.220 [DAT](INFO): DAT read: 16:56:43.9858 LVL= 28304, 25521, 22642, 32755, AGC= 64, IDX= 505, 0.40,-2.232,-0.062,-1.756,-1.562, PHS=-0.582, 1.546,-0.198, RAW= 320.2,  -7.9, CAL= 323.9, -10.7, ROT= 186.1,  10.7

2025-06-05T16:56:45.221Z,1749142605.221 [DAT](INFO): got valid direction response:
 16:56:43.9858 LVL= 28304, 25521, 22642, 32755, AGC= 64, IDX= 505, 0.40,-2.232,-0.062,-1.756,-1.562, PHS=-0.582, 1.546,-0.198, RAW= 320.2,  -7.9, CAL= 323.9, -10.7, ROT= 186.1,  10.7

2025-06-05T16:56:45.221Z,1749142605.221 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-05T16:56:45.232Z,1749142605.232 [DAT](INFO): direction in FSK: [-0.977049,-0.104417,-0.185667]
2025-06-05T16:56:45.233Z,1749142605.233 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:45.244Z,1749142605.244 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.073498
2025-06-05T16:56:45.329Z,1749142605.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 1.008002 s,
      deltaX: 0.700001 m,
      approachRate: 0.694444 m/s,
      rangeRepo size: 4

2025-06-05T16:56:45.347Z,1749142605.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.525158 m,
      bearing: 141.317983 deg,
      lat: 36.906277 deg,
      lon: -122.115934 deg,
      deltaT: 1.008002 s,
      deltaX: 0.692844 m,
      approachRate: 0.687344 m/s,
      posRepo size: 4

2025-06-05T16:56:45.348Z,1749142605.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.53 m.
2025-06-05T16:56:45.435Z,1749142605.435 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.264462
2025-06-05T16:56:45.688Z,1749142605.688 [DAT](INFO): DAT read: Rx Time:16:56:44.4862 

2025-06-05T16:56:45.688Z,1749142605.688 [DAT](INFO): Rx dataTimestamp_ set to:1749142605.687904
2025-06-05T16:56:45.689Z,1749142605.689 [DAT](INFO): DAT read: Bearing 186.1,   9.8 (Local)

2025-06-05T16:56:45.690Z,1749142605.690 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.1,   9.8 (Local)

2025-06-05T16:56:45.692Z,1749142605.692 [DAT](INFO): DAT read: Range 10 to 50 :    57.6 m (trip time 38.4 ms) speed -0.8

2025-06-05T16:56:45.705Z,1749142605.705 [DAT](INFO): DAT read: 16:56:44.4862 LVL= 24400, 21217, 20498, 32755, AGC= 64, IDX= 493, 0.12,-1.374, 0.807,-0.900,-0.680, PHS=-0.607, 1.533,-0.223, RAW= 320.3,  -7.2, CAL= 323.9,  -9.8, ROT= 186.1,   9.8

2025-06-05T16:56:45.706Z,1749142605.706 [DAT](INFO): got valid direction response:
 16:56:44.4862 LVL= 24400, 21217, 20498, 32755, AGC= 64, IDX= 493, 0.12,-1.374, 0.807,-0.900,-0.680, PHS=-0.607, 1.533,-0.223, RAW= 320.3,  -7.2, CAL= 323.9,  -9.8, ROT= 186.1,   9.8

2025-06-05T16:56:45.709Z,1749142605.709 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-06-05T16:56:45.724Z,1749142605.724 [DAT](INFO): direction in FSK: [-0.979828,-0.104714,-0.170209]
2025-06-05T16:56:45.724Z,1749142605.724 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:45.745Z,1749142605.745 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.573807
2025-06-05T16:56:45.884Z,1749142605.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.599998 m,
      deltaT: 0.499571 s,
      deltaX: 0.599998 m,
      approachRate: 1.201027 m/s,
      rangeRepo size: 4

2025-06-05T16:56:45.891Z,1749142605.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.120159 m,
      bearing: 141.427873 deg,
      lat: 36.906277 deg,
      lon: -122.115934 deg,
      deltaT: 0.499571 s,
      deltaX: 0.595001 m,
      approachRate: 1.191024 m/s,
      posRepo size: 4

2025-06-05T16:56:45.891Z,1749142605.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.12 m.
2025-06-05T16:56:45.940Z,1749142605.940 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.768860
2025-06-05T16:56:46.196Z,1749142606.196 [DAT](INFO): DAT read: Rx Time:16:56:44.9864 

2025-06-05T16:56:46.199Z,1749142606.199 [DAT](INFO): Rx dataTimestamp_ set to:1749142606.196609
2025-06-05T16:56:46.203Z,1749142606.203 [DAT](INFO): DAT read: Bearing 186.2,  10.2 (Local)

2025-06-05T16:56:46.204Z,1749142606.204 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.2,  10.2 (Local)

2025-06-05T16:56:46.225Z,1749142606.225 [DAT](INFO): DAT read: Range 10 to 50 :    57.9 m (trip time 38.6 ms) speed -0.8

2025-06-05T16:56:46.241Z,1749142606.241 [DAT](INFO): DAT read: 16:56:44.9864 LVL= 28432, 21361, 23698, 32755, AGC= 65, IDX= 495,-0.14, 2.326,-1.805, 2.801, 3.006, PHS=-0.592, 1.520,-0.208, RAW= 320.2,  -7.5, CAL= 323.8, -10.2, ROT= 186.2,  10.2

2025-06-05T16:56:46.247Z,1749142606.247 [DAT](INFO): got valid direction response:
 16:56:44.9864 LVL= 28432, 21361, 23698, 32755, AGC= 65, IDX= 495,-0.14, 2.326,-1.805, 2.801, 3.006, PHS=-0.592, 1.520,-0.208, RAW= 320.2,  -7.5, CAL= 323.8, -10.2, ROT= 186.2,  10.2

2025-06-05T16:56:46.248Z,1749142606.248 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-06-05T16:56:46.250Z,1749142606.250 [DAT](INFO): direction in FSK: [-0.978439,-0.106292,-0.177085]
2025-06-05T16:56:46.255Z,1749142606.255 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:46.280Z,1749142606.280 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.109318
2025-06-05T16:56:46.421Z,1749142606.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.900002 m,
      deltaT: 0.508705 s,
      deltaX: 0.300003 m,
      approachRate: 0.589739 m/s,
      rangeRepo size: 4

2025-06-05T16:56:46.428Z,1749142606.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.416805 m,
      bearing: 141.525270 deg,
      lat: 36.906273 deg,
      lon: -122.115934 deg,
      deltaT: 0.508705 s,
      deltaX: 0.296646 m,
      approachRate: 0.583140 m/s,
      posRepo size: 4

2025-06-05T16:56:46.428Z,1749142606.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.42 m.
2025-06-05T16:56:46.447Z,1749142606.447 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.275730
2025-06-05T16:56:46.696Z,1749142606.696 [DAT](INFO): DAT read: Rx Time:16:56:45.4867 

2025-06-05T16:56:46.696Z,1749142606.696 [DAT](INFO): Rx dataTimestamp_ set to:1749142606.695854
2025-06-05T16:56:46.699Z,1749142606.699 [DAT](INFO): DAT read: Bearing 186.4,   9.8 (Local)

2025-06-05T16:56:46.699Z,1749142606.699 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.4,   9.8 (Local)

2025-06-05T16:56:46.701Z,1749142606.701 [DAT](INFO): DAT read: Range 10 to 50 :    58.4 m (trip time 38.9 ms) speed -0.7

2025-06-05T16:56:46.719Z,1749142606.719 [DAT](INFO): DAT read: 16:56:45.4867 LVL= 29424, 21745, 22962, 32755, AGC= 65, IDX= 498,-0.38, 1.923,-2.241, 2.398, 2.604, PHS=-0.594, 1.485,-0.210, RAW= 320.0,  -7.2, CAL= 323.6,  -9.8, ROT= 186.4,   9.8

2025-06-05T16:56:46.720Z,1749142606.720 [DAT](INFO): got valid direction response:
 16:56:45.4867 LVL= 29424, 21745, 22962, 32755, AGC= 65, IDX= 498,-0.38, 1.923,-2.241, 2.398, 2.604, PHS=-0.594, 1.485,-0.210, RAW= 320.0,  -7.2, CAL= 323.6,  -9.8, ROT= 186.4,   9.8

2025-06-05T16:56:46.721Z,1749142606.721 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-06-05T16:56:46.721Z,1749142606.721 [DAT](INFO): direction in FSK: [-0.979267,-0.109842,-0.170209]
2025-06-05T16:56:46.722Z,1749142606.722 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:46.726Z,1749142606.726 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.555439
2025-06-05T16:56:46.812Z,1749142606.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.400002 m,
      deltaT: 0.499245 s,
      deltaX: 0.500000 m,
      approachRate: 1.001512 m/s,
      rangeRepo size: 4

2025-06-05T16:56:46.818Z,1749142606.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.912632 m,
      bearing: 141.722048 deg,
      lat: 36.906271 deg,
      lon: -122.115934 deg,
      deltaT: 0.499245 s,
      deltaX: 0.495827 m,
      approachRate: 0.993153 m/s,
      posRepo size: 4

2025-06-05T16:56:46.819Z,1749142606.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.91 m.
2025-06-05T16:56:46.948Z,1749142606.948 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.776848
2025-06-05T16:56:47.204Z,1749142607.204 [DAT](INFO): DAT read: Rx Time:16:56:45.9868 

2025-06-05T16:56:47.205Z,1749142607.205 [DAT](INFO): Rx dataTimestamp_ set to:1749142607.204479
2025-06-05T16:56:47.211Z,1749142607.211 [DAT](INFO): DAT read: Bearing 186.0,  10.1 (Local)

2025-06-05T16:56:47.212Z,1749142607.212 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.0,  10.1 (Local)

2025-06-05T16:56:47.231Z,1749142607.231 [DAT](INFO): DAT read: Range 10 to 50 :    58.5 m (trip time 39.0 ms) speed -0.8

2025-06-05T16:56:47.255Z,1749142607.255 [DAT](INFO): DAT read: 16:56:45.9868 LVL= 25584, 21937, 23538, 32755, AGC= 65, IDX= 499, 0.27, 1.980,-2.142, 2.448, 2.661, PHS=-0.594, 1.527,-0.216, RAW= 320.4,  -7.4, CAL= 324.0, -10.1, ROT= 186.0,  10.1

2025-06-05T16:56:47.256Z,1749142607.256 [DAT](INFO): got valid direction response:
 16:56:45.9868 LVL= 25584, 21937, 23538, 32755, AGC= 65, IDX= 499, 0.27, 1.980,-2.142, 2.448, 2.661, PHS=-0.594, 1.527,-0.216, RAW= 320.4,  -7.4, CAL= 324.0, -10.1, ROT= 186.0,  10.1

2025-06-05T16:56:47.256Z,1749142607.256 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-06-05T16:56:47.257Z,1749142607.257 [DAT](INFO): direction in FSK: [-0.979110,-0.102909,-0.175367]
2025-06-05T16:56:47.258Z,1749142607.258 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:47.258Z,1749142607.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.91 m.
2025-06-05T16:56:47.278Z,1749142607.278 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.106754
2025-06-05T16:56:47.454Z,1749142607.454 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.283073
2025-06-05T16:56:47.694Z,1749142607.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.500000 m,
      deltaT: 0.508625 s,
      deltaX: 0.099998 m,
      approachRate: 0.196606 m/s,
      rangeRepo size: 4

2025-06-05T16:56:47.696Z,1749142607.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.011944 m,
      bearing: 141.320595 deg,
      lat: 36.906271 deg,
      lon: -122.115935 deg,
      deltaT: 0.508625 s,
      deltaX: 0.099312 m,
      approachRate: 0.195256 m/s,
      posRepo size: 4

2025-06-05T16:56:47.697Z,1749142607.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.01 m.
2025-06-05T16:56:47.704Z,1749142607.704 [DAT](INFO): DAT read: Rx Time:16:56:46.4872 

2025-06-05T16:56:47.704Z,1749142607.704 [DAT](INFO): Rx dataTimestamp_ set to:1749142607.704074
2025-06-05T16:56:47.706Z,1749142607.706 [DAT](INFO): DAT read: Bearing 186.2,  10.8 (Local)

2025-06-05T16:56:47.706Z,1749142607.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.2,  10.8 (Local)

2025-06-05T16:56:47.708Z,1749142607.708 [DAT](INFO): DAT read: Range 10 to 50 :    59.1 m (trip time 39.4 ms) speed -0.8

2025-06-05T16:56:47.713Z,1749142607.713 [DAT](INFO): DAT read: 16:56:46.4872 LVL= 25808, 22385, 21202, 32755, AGC= 65, IDX= 487, 0.06,-2.893,-0.753,-2.417,-2.230, PHS=-0.575, 1.524,-0.190, RAW= 320.1,  -7.9, CAL= 323.8, -10.8, ROT= 186.2,  10.8

2025-06-05T16:56:47.714Z,1749142607.714 [DAT](INFO): got valid direction response:
 16:56:46.4872 LVL= 25808, 22385, 21202, 32755, AGC= 65, IDX= 487, 0.06,-2.893,-0.753,-2.417,-2.230, PHS=-0.575, 1.524,-0.190, RAW= 320.1,  -7.9, CAL= 323.8, -10.8, ROT= 186.2,  10.8

2025-06-05T16:56:47.715Z,1749142607.715 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-06-05T16:56:47.716Z,1749142607.716 [DAT](INFO): direction in FSK: [-0.976542,-0.106086,-0.187381]
2025-06-05T16:56:47.717Z,1749142607.717 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:47.721Z,1749142607.721 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.550140
2025-06-05T16:56:47.956Z,1749142607.956 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.785439
2025-06-05T16:56:48.043Z,1749142608.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.099998 m,
      deltaT: 0.499595 s,
      deltaX: 0.599998 m,
      approachRate: 1.200970 m/s,
      rangeRepo size: 4

2025-06-05T16:56:48.045Z,1749142608.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.606937 m,
      bearing: 141.490974 deg,
      lat: 36.906271 deg,
      lon: -122.115935 deg,
      deltaT: 0.499595 s,
      deltaX: 0.594994 m,
      approachRate: 1.190952 m/s,
      posRepo size: 4

2025-06-05T16:56:48.045Z,1749142608.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.61 m.
2025-06-05T16:56:48.212Z,1749142608.212 [DAT](INFO): DAT read: Rx Time:16:56:46.9874 

2025-06-05T16:56:48.214Z,1749142608.214 [DAT](INFO): Rx dataTimestamp_ set to:1749142608.212903
2025-06-05T16:56:48.219Z,1749142608.219 [DAT](INFO): DAT read: Bearing 186.3,  10.5 (Local)

2025-06-05T16:56:48.220Z,1749142608.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.3,  10.5 (Local)

2025-06-05T16:56:48.228Z,1749142608.228 [DAT](INFO): DAT read: Range 10 to 50 :    59.4 m (trip time 39.6 ms) speed -0.6

2025-06-05T16:56:48.263Z,1749142608.263 [DAT](INFO): DAT read: 16:56:46.9874 LVL= 25552, 19921, 20962, 32755, AGC= 65, IDX= 489,-0.17, 1.457,-2.666, 1.939, 2.133, PHS=-0.587, 1.532,-0.196, RAW= 320.0,  -7.7, CAL= 323.7, -10.5, ROT= 186.3,  10.5

2025-06-05T16:56:48.264Z,1749142608.264 [DAT](INFO): got valid direction response:
 16:56:46.9874 LVL= 25552, 19921, 20962, 32755, AGC= 65, IDX= 489,-0.17, 1.457,-2.666, 1.939, 2.133, PHS=-0.587, 1.532,-0.196, RAW= 320.0,  -7.7, CAL= 323.7, -10.5, ROT= 186.3,  10.5

2025-06-05T16:56:48.265Z,1749142608.265 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-06-05T16:56:48.275Z,1749142608.275 [DAT](INFO): direction in FSK: [-0.977317,-0.107897,-0.182236]
2025-06-05T16:56:48.275Z,1749142608.275 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:48.295Z,1749142608.295 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.124199
2025-06-05T16:56:48.459Z,1749142608.459 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.288555
2025-06-05T16:56:48.544Z,1749142608.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.400002 m,
      deltaT: 0.508829 s,
      deltaX: 0.300003 m,
      approachRate: 0.589595 m/s,
      rangeRepo size: 4

2025-06-05T16:56:48.552Z,1749142608.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.905525 m,
      bearing: 141.548531 deg,
      lat: 36.906273 deg,
      lon: -122.115936 deg,
      deltaT: 0.508829 s,
      deltaX: 0.298588 m,
      approachRate: 0.586814 m/s,
      posRepo size: 4

2025-06-05T16:56:48.553Z,1749142608.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.91 m.
2025-06-05T16:56:48.712Z,1749142608.712 [DAT](INFO): DAT read: Rx Time:16:56:47.4876 

2025-06-05T16:56:48.712Z,1749142608.712 [DAT](INFO): Rx dataTimestamp_ set to:1749142608.711952
2025-06-05T16:56:48.713Z,1749142608.713 [DAT](INFO): DAT read: Bearing 186.2,  10.1 (Local)

2025-06-05T16:56:48.714Z,1749142608.714 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.2,  10.1 (Local)

2025-06-05T16:56:48.717Z,1749142608.717 [DAT](INFO): DAT read: Range 10 to 50 :    59.9 m (trip time 39.9 ms) speed -0.7

2025-06-05T16:56:48.722Z,1749142608.722 [DAT](INFO): DAT read: 16:56:47.4876 LVL= 32752, 24609, 25906, 32755, AGC= 66, IDX= 508, 0.36, 0.990,-3.077, 1.475, 1.690, PHS=-0.612, 1.563,-0.217, RAW= 320.2,  -7.4, CAL= 323.8, -10.1, ROT= 186.2,  10.1

2025-06-05T16:56:48.723Z,1749142608.723 [DAT](INFO): got valid direction response:
 16:56:47.4876 LVL= 32752, 24609, 25906, 32755, AGC= 66, IDX= 508, 0.36, 0.990,-3.077, 1.475, 1.690, PHS=-0.612, 1.563,-0.217, RAW= 320.2,  -7.4, CAL= 323.8, -10.1, ROT= 186.2,  10.1

2025-06-05T16:56:48.724Z,1749142608.724 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-06-05T16:56:48.725Z,1749142608.725 [DAT](INFO): direction in FSK: [-0.978745,-0.106326,-0.175367]
2025-06-05T16:56:48.725Z,1749142608.725 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:48.745Z,1749142608.745 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.573917
2025-06-05T16:56:48.966Z,1749142608.966 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.794270
2025-06-05T16:56:48.977Z,1749142608.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.900002 m,
      deltaT: 0.499049 s,
      deltaX: 0.500000 m,
      approachRate: 1.001906 m/s,
      rangeRepo size: 4

2025-06-05T16:56:48.987Z,1749142608.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.401360 m,
      bearing: 141.421234 deg,
      lat: 36.906273 deg,
      lon: -122.115936 deg,
      deltaT: 0.499049 s,
      deltaX: 0.495834 m,
      approachRate: 0.993558 m/s,
      posRepo size: 4

2025-06-05T16:56:48.988Z,1749142608.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-06-05T16:56:49.220Z,1749142609.220 [DAT](INFO): DAT read: Rx Time:16:56:47.9878 

2025-06-05T16:56:49.221Z,1749142609.221 [DAT](INFO): Rx dataTimestamp_ set to:1749142609.220482
2025-06-05T16:56:49.228Z,1749142609.228 [DAT](INFO): DAT read: Bearing 186.6,  10.4 (Local)

2025-06-05T16:56:49.229Z,1749142609.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.6,  10.4 (Local)

2025-06-05T16:56:49.237Z,1749142609.237 [DAT](INFO): DAT read: Range 10 to 50 :    60.2 m (trip time 40.1 ms) speed -0.5

2025-06-05T16:56:49.268Z,1749142609.268 [DAT](INFO): DAT read: 16:56:47.9878 LVL= 25680, 20369, 21602, 32755, AGC= 67, IDX= 510, 0.26,-0.610, 1.545,-0.119, 0.070, PHS=-0.592, 1.522,-0.191, RAW= 319.7,  -7.6, CAL= 323.4, -10.4, ROT= 186.6,  10.4

2025-06-05T16:56:49.275Z,1749142609.275 [DAT](INFO): got valid direction response:
 16:56:47.9878 LVL= 25680, 20369, 21602, 32755, AGC= 67, IDX= 510, 0.26,-0.610, 1.545,-0.119, 0.070, PHS=-0.592, 1.522,-0.191, RAW= 319.7,  -7.6, CAL= 323.4, -10.4, ROT= 186.6,  10.4

2025-06-05T16:56:49.275Z,1749142609.275 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-06-05T16:56:49.276Z,1749142609.276 [DAT](INFO): direction in FSK: [-0.977053,-0.113049,-0.180519]
2025-06-05T16:56:49.277Z,1749142609.277 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:49.285Z,1749142609.285 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.114319
2025-06-05T16:56:49.463Z,1749142609.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.200001 m,
      deltaT: 0.508530 s,
      deltaX: 0.299999 m,
      approachRate: 0.589934 m/s,
      rangeRepo size: 4

2025-06-05T16:56:49.466Z,1749142609.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.698883 m,
      bearing: 141.808356 deg,
      lat: 36.906273 deg,
      lon: -122.115936 deg,
      deltaT: 0.508530 s,
      deltaX: 0.297523 m,
      approachRate: 0.585066 m/s,
      posRepo size: 4

2025-06-05T16:56:49.469Z,1749142609.469 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.298016
2025-06-05T16:56:49.478Z,1749142609.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.70 m.
2025-06-05T16:56:49.720Z,1749142609.720 [DAT](INFO): DAT read: Rx Time:16:56:48.4883 

2025-06-05T16:56:49.720Z,1749142609.720 [DAT](INFO): Rx dataTimestamp_ set to:1749142609.719799
2025-06-05T16:56:49.721Z,1749142609.721 [DAT](INFO): DAT read: Bearing 186.9,   9.7 (Local)

2025-06-05T16:56:49.722Z,1749142609.722 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.9,   9.7 (Local)

2025-06-05T16:56:49.724Z,1749142609.724 [DAT](INFO): DAT read: Range 10 to 50 :    60.9 m (trip time 40.6 ms) speed -0.8

2025-06-05T16:56:49.728Z,1749142609.728 [DAT](INFO): DAT read: 16:56:48.4883 LVL= 25776, 19633, 19218, 31907, AGC= 68, IDX=   2, 0.22, 0.456, 2.595, 0.954, 1.152, PHS=-0.608, 1.490,-0.201, RAW= 319.5,  -7.1, CAL= 323.1,  -9.7, ROT= 186.9,   9.7

2025-06-05T16:56:49.729Z,1749142609.729 [DAT](INFO): got valid direction response:
 16:56:48.4883 LVL= 25776, 19633, 19218, 31907, AGC= 68, IDX=   2, 0.22, 0.456, 2.595, 0.954, 1.152, PHS=-0.608, 1.490,-0.201, RAW= 319.5,  -7.1, CAL= 323.1,  -9.7, ROT= 186.9,   9.7

2025-06-05T16:56:49.730Z,1749142609.730 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-06-05T16:56:49.731Z,1749142609.731 [DAT](INFO): direction in FSK: [-0.978564,-0.118419,-0.168489]
2025-06-05T16:56:49.732Z,1749142609.732 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:49.736Z,1749142609.736 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.564793
2025-06-05T16:56:49.871Z,1749142609.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.900002 m,
      deltaT: 0.499317 s,
      deltaX: 0.700001 m,
      approachRate: 1.401917 m/s,
      rangeRepo size: 4

2025-06-05T16:56:49.873Z,1749142609.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.393055 m,
      bearing: 142.027539 deg,
      lat: 36.906272 deg,
      lon: -122.115937 deg,
      deltaT: 0.499317 s,
      deltaX: 0.694172 m,
      approachRate: 1.390243 m/s,
      posRepo size: 4

2025-06-05T16:56:49.874Z,1749142609.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.39 m.
2025-06-05T16:56:49.971Z,1749142609.971 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.800449
2025-06-05T16:56:50.208Z,1749142610.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.39 m.
2025-06-05T16:56:50.228Z,1749142610.228 [DAT](INFO): DAT read: Rx Time:16:56:48.9885 

2025-06-05T16:56:50.231Z,1749142610.231 [DAT](INFO): Rx dataTimestamp_ set to:1749142610.229007
2025-06-05T16:56:50.235Z,1749142610.235 [DAT](INFO): DAT read: Bearing 186.7,   9.7 (Local)

2025-06-05T16:56:50.236Z,1749142610.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.7,   9.7 (Local)

2025-06-05T16:56:50.244Z,1749142610.244 [DAT](INFO): DAT read: Range 10 to 50 :    61.2 m (trip time 40.8 ms) speed -0.7

2025-06-05T16:56:50.275Z,1749142610.275 [DAT](INFO): DAT read: 16:56:48.9885 LVL= 26176, 23569, 23074, 32755, AGC= 66, IDX= 484, 0.12,-0.219, 2.029, 0.292, 0.506, PHS=-0.637, 1.570,-0.217, RAW= 319.7,  -7.1, CAL= 323.3,  -9.7, ROT= 186.7,   9.7

2025-06-05T16:56:50.291Z,1749142610.291 [DAT](INFO): got valid direction response:
 16:56:48.9885 LVL= 26176, 23569, 23074, 32755, AGC= 66, IDX= 484, 0.12,-0.219, 2.029, 0.292, 0.506, PHS=-0.637, 1.570,-0.217, RAW= 319.7,  -7.1, CAL= 323.3,  -9.7, ROT= 186.7,   9.7

2025-06-05T16:56:50.291Z,1749142610.291 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-06-05T16:56:50.292Z,1749142610.292 [DAT](INFO): direction in FSK: [-0.978972,-0.115003,-0.168489]
2025-06-05T16:56:50.292Z,1749142610.292 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:50.304Z,1749142610.304 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.133251
2025-06-05T16:56:50.475Z,1749142610.475 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.304432
2025-06-05T16:56:50.728Z,1749142610.728 [DAT](INFO): DAT read: Rx Time:16:56:49.4889 

2025-06-05T16:56:50.728Z,1749142610.728 [DAT](INFO): Rx dataTimestamp_ set to:1749142610.728024
2025-06-05T16:56:50.730Z,1749142610.730 [DAT](INFO): DAT read: Bearing 187.0,   9.5 (Local)

2025-06-05T16:56:50.730Z,1749142610.730 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.0,   9.5 (Local)

2025-06-05T16:56:50.733Z,1749142610.733 [DAT](INFO): DAT read: Range 10 to 50 :    61.8 m (trip time 41.2 ms) speed -0.6

2025-06-05T16:56:50.738Z,1749142610.738 [DAT](INFO): DAT read: 16:56:49.4889 LVL= 27248, 25585, 21890, 32755, AGC= 69, IDX= 504, 0.04, 1.026,-3.135, 1.523, 1.723, PHS=-0.610, 1.472,-0.204, RAW= 319.4,  -6.9, CAL= 323.0,  -9.5, ROT= 187.0,   9.5

2025-06-05T16:56:50.739Z,1749142610.739 [DAT](INFO): got valid direction response:
 16:56:49.4889 LVL= 27248, 25585, 21890, 32755, AGC= 69, IDX= 504, 0.04, 1.026,-3.135, 1.523, 1.723, PHS=-0.610, 1.472,-0.204, RAW= 319.4,  -6.9, CAL= 323.0,  -9.5, ROT= 187.0,   9.5

2025-06-05T16:56:50.739Z,1749142610.739 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-06-05T16:56:50.740Z,1749142610.740 [DAT](INFO): direction in FSK: [-0.978934,-0.120198,-0.165048]
2025-06-05T16:56:50.741Z,1749142610.741 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:50.750Z,1749142610.750 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:56:50.750Z,1749142610.750 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:56:50.770Z,1749142610.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:50.772Z,1749142610.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.799999 m,
      deltaT: 1.008225 s,
      deltaX: 0.899998 m,
      approachRate: 0.892656 m/s,
      rangeRepo size: 4

2025-06-05T16:56:50.795Z,1749142610.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.691242 m,
      bearing: 141.800343 deg,
      lat: 36.906272 deg,
      lon: -122.115937 deg,
      deltaT: 0.509208 s,
      deltaX: 0.298187 m,
      approachRate: 0.585590 m/s,
      posRepo size: 4

2025-06-05T16:56:50.795Z,1749142610.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.69 m.
2025-06-05T16:56:50.979Z,1749142610.979 [DAT](INFO): Reached modem response timeout
2025-06-05T16:56:50.979Z,1749142610.979 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:50.979Z,1749142610.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:51.238Z,1749142611.238 [DAT](INFO): DAT read: Rx Time:16:56:49.9891 

2025-06-05T16:56:51.240Z,1749142611.240 [DAT](INFO): Rx dataTimestamp_ set to:1749142611.238885
2025-06-05T16:56:51.244Z,1749142611.244 [DAT](INFO): DAT read: Bearing 187.2,   9.1 (Local)

2025-06-05T16:56:51.245Z,1749142611.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.2,   9.1 (Local)

2025-06-05T16:56:51.258Z,1749142611.258 [DAT](INFO): DAT read: Range 10 to 50 :    62.1 m (trip time 41.4 ms) speed -0.7

2025-06-05T16:56:51.308Z,1749142611.308 [DAT](INFO): DAT read: 16:56:49.9891 LVL= 27536, 25025, 22482, 32755, AGC= 69, IDX= 506, 0.02,-0.527, 1.678,-0.008, 0.207, PHS=-0.646, 1.518,-0.218, RAW= 319.2,  -6.6, CAL= 322.8,  -9.1, ROT= 187.2,   9.1

2025-06-05T16:56:51.309Z,1749142611.309 [DAT](INFO): got valid direction response:
 16:56:49.9891 LVL= 27536, 25025, 22482, 32755, AGC= 69, IDX= 506, 0.02,-0.527, 1.678,-0.008, 0.207, PHS=-0.646, 1.518,-0.218, RAW= 319.2,  -6.6, CAL= 322.8,  -9.1, ROT= 187.2,   9.1

2025-06-05T16:56:51.309Z,1749142611.309 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:56:51.318Z,1749142611.318 [DAT](INFO): direction in FSK: [-0.979628,-0.123756,-0.158158]
2025-06-05T16:56:51.318Z,1749142611.318 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:51.322Z,1749142611.322 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:51.322Z,1749142611.322 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:51.480Z,1749142611.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.099998 m,
      deltaT: 0.510861 s,
      deltaX: 0.299999 m,
      approachRate: 0.587242 m/s,
      rangeRepo size: 4

2025-06-05T16:56:51.483Z,1749142611.483 [DAT](INFO): Reached modem response timeout
2025-06-05T16:56:51.483Z,1749142611.483 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:51.483Z,1749142611.483 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:51.487Z,1749142611.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.585716 m,
      bearing: 142.285404 deg,
      lat: 36.906271 deg,
      lon: -122.115938 deg,
      deltaT: 1.009878 s,
      deltaX: 0.894474 m,
      approachRate: 0.885725 m/s,
      posRepo size: 4

2025-06-05T16:56:51.487Z,1749142611.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.59 m.
2025-06-05T16:56:51.736Z,1749142611.736 [DAT](INFO): DAT read: Rx Time:16:56:50.4894 

2025-06-05T16:56:51.737Z,1749142611.737 [DAT](INFO): Rx dataTimestamp_ set to:1749142611.736680
2025-06-05T16:56:51.739Z,1749142611.739 [DAT](INFO): DAT read: Bearing 186.9,   9.5 (Local)

2025-06-05T16:56:51.740Z,1749142611.740 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.9,   9.5 (Local)

2025-06-05T16:56:51.743Z,1749142611.743 [DAT](INFO): DAT read: Range 10 to 50 :    62.4 m (trip time 41.6 ms) speed -0.7

2025-06-05T16:56:51.749Z,1749142611.749 [DAT](INFO): DAT read: 16:56:50.4894 LVL= 26272, 26209, 23570, 32755, AGC= 69, IDX= 509,-0.01,-1.350, 0.877,-0.838,-0.623, PHS=-0.639, 1.547,-0.218, RAW= 319.5,  -6.9, CAL= 323.1,  -9.5, ROT= 186.9,   9.5

2025-06-05T16:56:51.751Z,1749142611.751 [DAT](INFO): got valid direction response:
 16:56:50.4894 LVL= 26272, 26209, 23570, 32755, AGC= 69, IDX= 509,-0.01,-1.350, 0.877,-0.838,-0.623, PHS=-0.639, 1.547,-0.218, RAW= 319.5,  -6.9, CAL= 323.1,  -9.5, ROT= 186.9,   9.5

2025-06-05T16:56:51.751Z,1749142611.751 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:56:51.752Z,1749142611.752 [DAT](INFO): direction in FSK: [-0.979142,-0.118489,-0.165048]
2025-06-05T16:56:51.752Z,1749142611.752 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:51.755Z,1749142611.755 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:51.756Z,1749142611.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:51.919Z,1749142611.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.400002 m,
      deltaT: 0.497795 s,
      deltaX: 0.300003 m,
      approachRate: 0.602664 m/s,
      rangeRepo size: 4

2025-06-05T16:56:51.921Z,1749142611.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.883236 m,
      bearing: 141.974321 deg,
      lat: 36.906269 deg,
      lon: -122.115938 deg,
      deltaT: 0.497795 s,
      deltaX: 0.297520 m,
      approachRate: 0.597675 m/s,
      posRepo size: 4

2025-06-05T16:56:51.922Z,1749142611.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.88 m.
2025-06-05T16:56:51.987Z,1749142611.987 [DAT](INFO): Reached modem response timeout
2025-06-05T16:56:51.988Z,1749142611.988 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:51.988Z,1749142611.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:52.240Z,1749142612.240 [DAT](INFO): DAT read: Rx Time:16:56:50.9896 

2025-06-05T16:56:52.240Z,1749142612.240 [DAT](INFO): Rx dataTimestamp_ set to:1749142612.239979
2025-06-05T16:56:52.242Z,1749142612.242 [DAT](INFO): DAT read: Bearing 187.0,   8.6 (Local)

2025-06-05T16:56:52.242Z,1749142612.242 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.0,   8.6 (Local)

2025-06-05T16:56:52.244Z,1749142612.244 [DAT](INFO): DAT read: Range 10 to 50 :    62.7 m (trip time 41.8 ms) speed -0.7

2025-06-05T16:56:52.253Z,1749142612.253 [DAT](INFO): DAT read: 16:56:50.9896 LVL= 23456, 23793, 18498, 32755, AGC= 69, IDX= 511,-0.08,-2.783,-0.574,-2.273,-2.039, PHS=-0.656, 1.512,-0.237, RAW= 319.5,  -6.3, CAL= 323.0,  -8.6, ROT= 187.0,   8.6

2025-06-05T16:56:52.257Z,1749142612.257 [DAT](INFO): got valid direction response:
 16:56:50.9896 LVL= 23456, 23793, 18498, 32755, AGC= 69, IDX= 511,-0.08,-2.783,-0.574,-2.273,-2.039, PHS=-0.656, 1.512,-0.237, RAW= 319.5,  -6.3, CAL= 323.0,  -8.6, ROT= 187.0,   8.6

2025-06-05T16:56:52.259Z,1749142612.259 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:56:52.263Z,1749142612.263 [DAT](INFO): direction in FSK: [-0.981386,-0.120499,-0.149535]
2025-06-05T16:56:52.264Z,1749142612.264 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:52.305Z,1749142612.305 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:52.306Z,1749142612.306 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:52.342Z,1749142612.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.700001 m,
      deltaT: 0.503299 s,
      deltaX: 0.299999 m,
      approachRate: 0.596066 m/s,
      rangeRepo size: 4

2025-06-05T16:56:52.349Z,1749142612.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.183258 m,
      bearing: 142.096746 deg,
      lat: 36.906268 deg,
      lon: -122.115938 deg,
      deltaT: 0.503299 s,
      deltaX: 0.300022 m,
      approachRate: 0.596111 m/s,
      posRepo size: 4

2025-06-05T16:56:52.350Z,1749142612.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.18 m.
2025-06-05T16:56:52.491Z,1749142612.491 [DAT](INFO): Reached modem response timeout
2025-06-05T16:56:52.491Z,1749142612.491 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:52.491Z,1749142612.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:52.738Z,1749142612.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.18 m.
2025-06-05T16:56:52.744Z,1749142612.744 [DAT](INFO): DAT read: Rx Time:16:56:51.4900 

2025-06-05T16:56:52.744Z,1749142612.744 [DAT](INFO): Rx dataTimestamp_ set to:1749142612.743967
2025-06-05T16:56:52.746Z,1749142612.746 [DAT](INFO): DAT read: Bearing 187.4,   9.5 (Local)

2025-06-05T16:56:52.746Z,1749142612.746 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.4,   9.5 (Local)

2025-06-05T16:56:52.749Z,1749142612.749 [DAT](INFO): DAT read: Range 10 to 50 :    63.3 m (trip time 42.2 ms) speed -0.6

2025-06-05T16:56:52.763Z,1749142612.763 [DAT](INFO): DAT read: 16:56:51.4900 LVL= 32608, 26353, 24162, 32755, AGC= 69, IDX=   3,-0.16,-1.874, 0.266,-1.359,-1.165, PHS=-0.621, 1.478,-0.197, RAW= 319.0,  -6.9, CAL= 322.6,  -9.5, ROT= 187.4,   9.5

2025-06-05T16:56:52.765Z,1749142612.765 [DAT](INFO): got valid direction response:
 16:56:51.4900 LVL= 32608, 26353, 24162, 32755, AGC= 69, IDX=   3,-0.16,-1.874, 0.266,-1.359,-1.165, PHS=-0.621, 1.478,-0.197, RAW= 319.0,  -6.9, CAL= 322.6,  -9.5, ROT= 187.4,   9.5

2025-06-05T16:56:52.766Z,1749142612.766 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:56:52.767Z,1749142612.767 [DAT](INFO): direction in FSK: [-0.978071,-0.127029,-0.165048]
2025-06-05T16:56:52.767Z,1749142612.767 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:52.775Z,1749142612.775 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:52.775Z,1749142612.775 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:52.995Z,1749142612.995 [DAT](INFO): Reached modem response timeout
2025-06-05T16:56:52.995Z,1749142612.995 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:52.995Z,1749142612.995 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:53.192Z,1749142613.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 0.503988 s,
      deltaX: 0.599998 m,
      approachRate: 1.190501 m/s,
      rangeRepo size: 4

2025-06-05T16:56:53.198Z,1749142613.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.778309 m,
      bearing: 142.445305 deg,
      lat: 36.906268 deg,
      lon: -122.115938 deg,
      deltaT: 0.503988 s,
      deltaX: 0.595051 m,
      approachRate: 1.180684 m/s,
      posRepo size: 4

2025-06-05T16:56:53.200Z,1749142613.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.78 m.
2025-06-05T16:56:53.250Z,1749142613.250 [DAT](INFO): DAT read: Rx Time:16:56:51.9902 

2025-06-05T16:56:53.252Z,1749142613.252 [DAT](INFO): Rx dataTimestamp_ set to:1749142613.251052
2025-06-05T16:56:53.257Z,1749142613.257 [DAT](INFO): DAT read: Bearing 187.7,   8.6 (Local)

2025-06-05T16:56:53.259Z,1749142613.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.7,   8.6 (Local)

2025-06-05T16:56:53.266Z,1749142613.266 [DAT](INFO): DAT read: Range 10 to 50 :    63.6 m (trip time 42.4 ms) speed -0.6

2025-06-05T16:56:53.324Z,1749142613.324 [DAT](INFO): DAT read: 16:56:51.9902 LVL= 25360, 25697, 21234, 32755, AGC= 69, IDX= 501,-0.27,-3.034,-0.859,-2.505,-2.292, PHS=-0.654, 1.480,-0.216, RAW= 318.8,  -6.3, CAL= 322.3,  -8.6, ROT= 187.7,   8.6

2025-06-05T16:56:53.325Z,1749142613.325 [DAT](INFO): got valid direction response:
 16:56:51.9902 LVL= 25360, 25697, 21234, 32755, AGC= 69, IDX= 501,-0.27,-3.034,-0.859,-2.505,-2.292, PHS=-0.654, 1.480,-0.216, RAW= 318.8,  -6.3, CAL= 322.3,  -8.6, ROT= 187.7,   8.6

2025-06-05T16:56:53.326Z,1749142613.326 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:56:53.350Z,1749142613.350 [DAT](INFO): direction in FSK: [-0.979841,-0.132480,-0.149535]
2025-06-05T16:56:53.351Z,1749142613.351 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:53.354Z,1749142613.354 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:53.358Z,1749142613.358 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:53.501Z,1749142613.501 [DAT](INFO): Reached modem response timeout
2025-06-05T16:56:53.501Z,1749142613.501 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:53.502Z,1749142613.502 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:53.681Z,1749142613.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.599998 m,
      deltaT: 0.507085 s,
      deltaX: 0.299999 m,
      approachRate: 0.591615 m/s,
      rangeRepo size: 4

2025-06-05T16:56:53.688Z,1749142613.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.077942 m,
      bearing: 142.779712 deg,
      lat: 36.906267 deg,
      lon: -122.115940 deg,
      deltaT: 0.507085 s,
      deltaX: 0.299633 m,
      approachRate: 0.590893 m/s,
      posRepo size: 4

2025-06-05T16:56:53.689Z,1749142613.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.08 m.
2025-06-05T16:56:53.754Z,1749142613.754 [DAT](INFO): DAT read: Rx Time:16:56:52.4906 

2025-06-05T16:56:53.755Z,1749142613.755 [DAT](INFO): Rx dataTimestamp_ set to:1749142613.753996
2025-06-05T16:56:53.757Z,1749142613.757 [DAT](INFO): DAT read: Bearing 187.4,   8.2 (Local)

2025-06-05T16:56:53.757Z,1749142613.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.4,   8.2 (Local)

2025-06-05T16:56:53.759Z,1749142613.759 [DAT](INFO): DAT read: Range 10 to 50 :    64.2 m (trip time 42.8 ms) speed -0.6

2025-06-05T16:56:53.769Z,1749142613.769 [DAT](INFO): DAT read: 16:56:52.4906 LVL= 32144, 25169, 25362, 32755, AGC= 69, IDX= 505,-0.48,-1.392, 0.795,-0.875,-0.641, PHS=-0.663, 1.483,-0.237, RAW= 319.2,  -6.0, CAL= 322.6,  -8.2, ROT= 187.4,   8.2

2025-06-05T16:56:53.770Z,1749142613.770 [DAT](INFO): got valid direction response:
 16:56:52.4906 LVL= 32144, 25169, 25362, 32755, AGC= 69, IDX= 505,-0.48,-1.392, 0.795,-0.875,-0.641, PHS=-0.663, 1.483,-0.237, RAW= 319.2,  -6.0, CAL= 322.6,  -8.2, ROT= 187.4,   8.2

2025-06-05T16:56:53.779Z,1749142613.779 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:56:53.781Z,1749142613.781 [DAT](INFO): direction in FSK: [-0.981533,-0.127479,-0.142629]
2025-06-05T16:56:53.781Z,1749142613.781 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:53.795Z,1749142613.795 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:53.795Z,1749142613.795 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:54.003Z,1749142614.003 [DAT](INFO): Reached modem response timeout
2025-06-05T16:56:54.003Z,1749142614.003 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:54.003Z,1749142614.003 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:54.013Z,1749142614.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.199997 m,
      deltaT: 0.502944 s,
      deltaX: 0.599998 m,
      approachRate: 1.192973 m/s,
      rangeRepo size: 4

2025-06-05T16:56:54.024Z,1749142614.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.673016 m,
      bearing: 142.539344 deg,
      lat: 36.906267 deg,
      lon: -122.115940 deg,
      deltaT: 0.502944 s,
      deltaX: 0.595074 m,
      approachRate: 1.183181 m/s,
      posRepo size: 4

2025-06-05T16:56:54.024Z,1749142614.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.67 m.
2025-06-05T16:56:54.257Z,1749142614.257 [DAT](INFO): DAT read: Rx Time:16:56:52.9908 

2025-06-05T16:56:54.257Z,1749142614.257 [DAT](INFO): Rx dataTimestamp_ set to:1749142614.257020
2025-06-05T16:56:54.259Z,1749142614.259 [DAT](INFO): DAT read: Bearing 187.4,   9.2 (Local)

2025-06-05T16:56:54.260Z,1749142614.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.4,   9.2 (Local)

2025-06-05T16:56:54.267Z,1749142614.267 [DAT](INFO): DAT read: Range 10 to 50 :    64.5 m (trip time 43.0 ms) speed -0.7

2025-06-05T16:56:54.277Z,1749142614.277 [DAT](INFO): DAT read: 16:56:52.9908 LVL= 23104, 16257, 20642, 32755, AGC= 68, IDX= 506, 0.30,-0.922, 1.330,-0.387,-0.174, PHS=-0.660, 1.551,-0.216, RAW= 319.1,  -6.7, CAL= 322.6,  -9.2, ROT= 187.4,   9.2

2025-06-05T16:56:54.280Z,1749142614.280 [DAT](INFO): got valid direction response:
 16:56:52.9908 LVL= 23104, 16257, 20642, 32755, AGC= 68, IDX= 506, 0.30,-0.922, 1.330,-0.387,-0.174, PHS=-0.660, 1.551,-0.216, RAW= 319.1,  -6.7, CAL= 322.6,  -9.2, ROT= 187.4,   9.2

2025-06-05T16:56:54.283Z,1749142614.283 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:56:54.287Z,1749142614.287 [DAT](INFO): direction in FSK: [-0.978915,-0.127139,-0.159881]
2025-06-05T16:56:54.288Z,1749142614.288 [DAT](INFO): publishing direction and range info
2025-06-05T16:56:54.356Z,1749142614.356 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:54.356Z,1749142614.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:54.496Z,1749142614.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.500000 m,
      deltaT: 0.503024 s,
      deltaX: 0.300003 m,
      approachRate: 0.596399 m/s,
      rangeRepo size: 4

2025-06-05T16:56:54.504Z,1749142614.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.970757 m,
      bearing: 142.502650 deg,
      lat: 36.906266 deg,
      lon: -122.115941 deg,
      deltaT: 0.503024 s,
      deltaX: 0.297741 m,
      approachRate: 0.591902 m/s,
      posRepo size: 4

2025-06-05T16:56:54.505Z,1749142614.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:56:54.509Z,1749142614.509 [DAT](INFO): Reached modem response timeout
2025-06-05T16:56:54.509Z,1749142614.509 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:56:54.510Z,1749142614.510 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:56:54.759Z,1749142614.759 [DAT](INFO): DAT read: user:2489>

2025-06-05T16:56:54.760Z,1749142614.760 [DAT](INFO): DAT read: Command 'tr50' not found

2025-06-05T16:56:54.760Z,1749142614.760 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found

2025-06-05T16:56:54.761Z,1749142614.761 [DAT](INFO): DAT read: Error

2025-06-05T16:56:54.761Z,1749142614.761 [DAT](INFO): unknown deviceResponse_: Error

2025-06-05T16:56:54.761Z,1749142614.761 [DAT](INFO): DAT read: user:2490>

2025-06-05T16:56:54.762Z,1749142614.762 [DAT](INFO): DAT read: Tx time:16:56:53.8586

2025-06-05T16:56:54.762Z,1749142614.762 [DAT](INFO): Ping request sent.
2025-06-05T16:56:54.762Z,1749142614.762 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:56:54.763Z,1749142614.763 [DAT](INFO): publishing transmit ping time
2025-06-05T16:56:54.763Z,1749142614.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-06-05T16:56:54.935Z,1749142614.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:56:55.016Z,1749142615.016 [DAT](INFO): DAT read: TxSync time:16:56:53.8579

2025-06-05T16:56:55.017Z,1749142615.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254432
2025-06-05T16:56:55.267Z,1749142615.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504910
2025-06-05T16:56:55.361Z,1749142615.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:56:55.523Z,1749142615.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759195
2025-06-05T16:56:55.742Z,1749142615.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:56:55.774Z,1749142615.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011396
2025-06-05T16:56:56.023Z,1749142616.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260667
2025-06-05T16:56:56.081Z,1749142616.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:56:56.277Z,1749142616.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514519
2025-06-05T16:56:56.529Z,1749142616.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765759
2025-06-05T16:56:56.589Z,1749142616.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:56:56.780Z,1749142616.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017592
2025-06-05T16:56:57.011Z,1749142617.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:56:57.032Z,1749142617.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269886
2025-06-05T16:56:57.284Z,1749142617.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521305
2025-06-05T16:56:57.417Z,1749142617.417 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,
2025-06-05T16:56:57.435Z,1749142617.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:56:57.536Z,1749142617.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773398
2025-06-05T16:56:57.791Z,1749142617.791 [DAT](INFO): DAT read: Rx Time:16:56:56.3523

2025-06-05T16:56:57.792Z,1749142617.792 [DAT](INFO): Rx dataTimestamp_ set to:1749142617.791342
2025-06-05T16:56:57.792Z,1749142617.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029700
2025-06-05T16:56:57.841Z,1749142617.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:56:58.044Z,1749142618.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281044
2025-06-05T16:56:58.244Z,1749142618.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:56:58.304Z,1749142618.304 [DAT](INFO): DAT read: 16:56:56.3523 LVL= 24112, 26769, 17906, 27859, AGC= 67, IDX=  80,-0.28,-1.364, 0.804,-0.804,-0.659, PHS=-0.617, 1.510,-0.148, RAW= 317.9,  -7.8, CAL= 321.7, -10.6, ROT= 10.6

2025-06-05T16:56:58.307Z,1749142618.307 [DAT](INFO): unknown deviceResponse_: 16:56:56.3523 LVL= 24112, 26769, 17906, 27859, AGC= 67, IDX=  80,-0.28,-1.364, 0.804,-0.804,-0.659, PHS=-0.617, 1.510,-0.148, RAW= 317.9,  -7.8, CAL= 321.7, -10.6, ROT= 10.6

2025-06-05T16:56:58.308Z,1749142618.308 [DAT](INFO): DAT read: Bearing 188.3,  10.6 (Local)

2025-06-05T16:56:58.309Z,1749142618.309 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.3,  10.6 (Local)

2025-06-05T16:56:58.311Z,1749142618.311 [DAT](INFO): DAT read: Range 10 to 50 : 67.0 m  (Round-trip  89.4 ms) speed -0.7 m/s

2025-06-05T16:56:58.312Z,1749142618.312 [DAT](INFO): DAT read: user:2491>

2025-06-05T16:56:58.313Z,1749142618.313 [DAT](INFO): DAT read: Tx time:16:56:57.4587

2025-06-05T16:56:58.314Z,1749142618.314 [DAT](INFO): Ping request sent.
2025-06-05T16:56:58.319Z,1749142618.319 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:56:58.319Z,1749142618.319 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T16:56:58.319Z,1749142618.319 [DAT](INFO): publishing transmit ping time
2025-06-05T16:56:58.324Z,1749142618.324 [DAT](INFO): publishing transmit ping time
2025-06-05T16:56:58.548Z,1749142618.548 [DAT](INFO): DAT read: TxSync time:16:56:57.4580

2025-06-05T16:56:58.666Z,1749142618.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.000000 m,
      deltaT: 4.038121 s,
      deltaX: 2.500000 m,
      approachRate: 0.619100 m/s,
      rangeRepo size: 4

2025-06-05T16:56:58.684Z,1749142618.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:56:59.072Z,1749142619.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:56:59.496Z,1749142619.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:56:59.844Z,1749142619.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:57:00.280Z,1749142620.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:57:00.686Z,1749142620.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:57:01.061Z,1749142621.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:57:01.320Z,1749142621.320 [DAT](INFO): DAT read: Rx Time:16:56:59.9561

2025-06-05T16:57:01.321Z,1749142621.321 [DAT](INFO): Rx dataTimestamp_ set to:1749142621.320529
2025-06-05T16:57:01.485Z,1749142621.485 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  80.12,  85.21,  78.76
2025-06-05T16:57:01.538Z,1749142621.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.97 m.
2025-06-05T16:57:01.829Z,1749142621.829 [DAT](INFO): DAT read: 16:56:59.9561 LVL= 26688, 20289, 20722, 32755, AGC= 67, IDX= 471, 0.16, 0.092, 2.248, 0.634, 0.765, PHS=-0.585, 1.531,-0.134, RAW= 318.3,  -8.5, CAL= 322.2, -11.5, ROT= 187.8,  11.5

2025-06-05T16:57:01.830Z,1749142621.830 [DAT](INFO): got valid direction response:
 16:56:59.9561 LVL= 26688, 20289, 20722, 32755, AGC= 67, IDX= 471, 0.16, 0.092, 2.248, 0.634, 0.765, PHS=-0.585, 1.531,-0.134, RAW= 318.3,  -8.5, CAL= 322.2, -11.5, ROT= 187.8,  11.5

2025-06-05T16:57:01.831Z,1749142621.831 [DAT](INFO): DAT read: Bearing 187.8,  11.5 (Local)

2025-06-05T16:57:01.832Z,1749142621.832 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.8,  11.5 (Local)

2025-06-05T16:57:01.834Z,1749142621.834 [DAT](INFO): DAT read: Range 10 to 50 : 69.9 m  (Round-trip  93.2 ms) speed -0.7 m/s

2025-06-05T16:57:01.835Z,1749142621.835 [DAT](INFO): DAT read: user:2492>

2025-06-05T16:57:01.837Z,1749142621.837 [DAT](INFO): DAT read: Tx time:16:57:01.0587

2025-06-05T16:57:01.839Z,1749142621.839 [DAT](INFO): Ping request sent.
2025-06-05T16:57:01.839Z,1749142621.839 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:57:01.840Z,1749142621.840 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-05T16:57:01.842Z,1749142621.842 [DAT](INFO): direction in FSK: [-0.970858,-0.132991,-0.199368]
2025-06-05T16:57:01.842Z,1749142621.842 [DAT](INFO): publishing transmit ping time
2025-06-05T16:57:01.842Z,1749142621.842 [DAT](INFO): publishing direction and range info
2025-06-05T16:57:01.845Z,1749142621.845 [DAT](INFO): publishing transmit ping time
2025-06-05T16:57:01.845Z,1749142621.845 [DAT](INFO): publishing direction and range info
2025-06-05T16:57:02.020Z,1749142622.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.900002 m,
      deltaT: 3.527368 s,
      deltaX: 2.900002 m,
      approachRate: 0.822143 m/s,
      rangeRepo size: 4

2025-06-05T16:57:02.028Z,1749142622.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.320274 m,
      bearing: 142.554137 deg,
      lat: 36.906266 deg,
      lon: -122.115942 deg,
      deltaT: 7.565489 s,
      deltaX: 5.349518 m,
      approachRate: 0.707095 m/s,
      posRepo size: 4

2025-06-05T16:57:02.028Z,1749142622.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.32 m.
2025-06-05T16:57:02.076Z,1749142622.076 [DAT](INFO): DAT read: TxSync time:16:57:01.0580

2025-06-05T16:57:02.533Z,1749142622.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.32 m.
2025-06-05T16:57:02.858Z,1749142622.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.32 m.
2025-06-05T16:57:03.269Z,1749142623.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.32 m.
2025-06-05T16:57:03.854Z,1749142623.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.32 m.
2025-06-05T16:57:04.188Z,1749142624.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.32 m.
2025-06-05T16:57:04.618Z,1749142624.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.32 m.
2025-06-05T16:57:04.847Z,1749142624.847 [DAT](INFO): DAT read: Rx Time:16:57:03.5600

2025-06-05T16:57:04.848Z,1749142624.848 [DAT](INFO): Rx dataTimestamp_ set to:1749142624.847500
2025-06-05T16:57:04.990Z,1749142624.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.32 m.
2025-06-05T16:57:05.422Z,1749142625.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.32 m.
2025-06-05T16:57:05.609Z,1749142625.609 [DAT](INFO): DAT read: 16:57:03.5600 LVL= 30768, 23281, 22322, 32755, AGC= 69, IDX= 463,-0.27,-0.991, 1.154,-0.433,-0.309, PHS=-0.594, 1.509,-0.127, RAW= 317.8,  -8.3, CAL= 321.7, -11.3, ROT= 188.3,  11.3

2025-06-05T16:57:05.610Z,1749142625.610 [DAT](INFO): got valid direction response:
 16:57:03.5600 LVL= 30768, 23281, 22322, 32755, AGC= 69, IDX= 463,-0.27,-0.991, 1.154,-0.433,-0.309, PHS=-0.594, 1.509,-0.127, RAW= 317.8,  -8.3, CAL= 321.7, -11.3, ROT= 188.3,  11.3

2025-06-05T16:57:05.611Z,1749142625.611 [DAT](INFO): DAT read: Bearing 188.3,  11.3 (Local)

2025-06-05T16:57:05.611Z,1749142625.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.3,  11.3 (Local)

2025-06-05T16:57:05.613Z,1749142625.613 [DAT](INFO): DAT read: Range 10 to 50 : 72.8 m  (Round-trip  97.1 ms) speed -0.8 m/s

2025-06-05T16:57:05.615Z,1749142625.615 [DAT](INFO): DAT read: user:2493>

2025-06-05T16:57:05.617Z,1749142625.617 [DAT](INFO): DAT read: Tx time:16:57:04.6587

2025-06-05T16:57:05.617Z,1749142625.617 [DAT](INFO): Ping request sent.
2025-06-05T16:57:05.617Z,1749142625.617 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:57:05.618Z,1749142625.618 [DAT](INFO): DAT read: TxSync time:16:57:04.6580

2025-06-05T16:57:05.619Z,1749142625.619 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-05T16:57:05.620Z,1749142625.620 [DAT](INFO): direction in FSK: [-0.970344,-0.141558,-0.195946]
2025-06-05T16:57:05.620Z,1749142625.620 [DAT](INFO): publishing transmit ping time
2025-06-05T16:57:05.620Z,1749142625.620 [DAT](INFO): publishing direction and range info
2025-06-05T16:57:05.630Z,1749142625.630 [DAT](INFO): publishing transmit ping time
2025-06-05T16:57:05.630Z,1749142625.630 [DAT](INFO): publishing direction and range info
2025-06-05T16:57:05.902Z,1749142625.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.800003 m,
      deltaT: 3.780020 s,
      deltaX: 2.900002 m,
      approachRate: 0.767192 m/s,
      rangeRepo size: 4

2025-06-05T16:57:05.908Z,1749142625.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.199486 m,
      bearing: 142.835182 deg,
      lat: 36.906266 deg,
      lon: -122.115945 deg,
      deltaT: 3.780020 s,
      deltaX: 2.879211 m,
      approachRate: 0.761692 m/s,
      posRepo size: 4

2025-06-05T16:57:05.908Z,1749142625.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:06.043Z,1749142626.043 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:57:06.250Z,1749142626.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:06.658Z,1749142626.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:07.012Z,1749142627.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:07.047Z,1749142627.047 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:57:07.454Z,1749142627.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:07.886Z,1749142627.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:08.268Z,1749142628.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:08.627Z,1749142628.627 [DAT](INFO): DAT read: Rx Time:16:57:07.1640

2025-06-05T16:57:08.628Z,1749142628.628 [DAT](INFO): Rx dataTimestamp_ set to:1749142628.627343
2025-06-05T16:57:08.709Z,1749142628.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:09.051Z,1749142629.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:09.141Z,1749142629.141 [DAT](INFO): DAT read: 16:57:07.1640 LVL= 23456, 21857, 17874, 28515, AGC= 68, IDX= 471, 0.25,-2.129, 0.155,-1.572,-1.415, PHS=-0.626, 1.617,-0.160, RAW= 318.6,  -8.2, CAL= 322.5, -11.1, ROT= 187.5,  11.1

2025-06-05T16:57:09.143Z,1749142629.143 [DAT](INFO): got valid direction response:
 16:57:07.1640 LVL= 23456, 21857, 17874, 28515, AGC= 68, IDX= 471, 0.25,-2.129, 0.155,-1.572,-1.415, PHS=-0.626, 1.617,-0.160, RAW= 318.6,  -8.2, CAL= 322.5, -11.1, ROT= 187.5,  11.1

2025-06-05T16:57:09.144Z,1749142629.144 [DAT](INFO): DAT read: $Error in header

2025-06-05T16:57:09.145Z,1749142629.145 [DAT](INFO): Received a bad header
2025-06-05T16:57:09.171Z,1749142629.171 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-06-05T16:57:09.172Z,1749142629.172 [DAT](INFO): direction in FSK: [-0.972898,-0.128084,-0.192522]
2025-06-05T16:57:09.477Z,1749142629.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:09.923Z,1749142629.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:10.291Z,1749142630.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:10.720Z,1749142630.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:11.090Z,1749142631.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:11.600Z,1749142631.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:11.968Z,1749142631.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:12.335Z,1749142632.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:12.759Z,1749142632.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:13.184Z,1749142633.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:13.612Z,1749142633.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:13.997Z,1749142633.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:14.359Z,1749142634.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:14.781Z,1749142634.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:15.157Z,1749142635.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:15.730Z,1749142635.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:16.250Z,1749142636.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:16.443Z,1749142636.443 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:57:16.444Z,1749142636.444 [DAT](INFO): response not received
2025-06-05T16:57:16.445Z,1749142636.445 [DAT](INFO): DAT read: user:2495>

2025-06-05T16:57:16.446Z,1749142636.446 [DAT](INFO): DAT read: Tx time:16:57:15.6089

2025-06-05T16:57:16.446Z,1749142636.446 [DAT](INFO): Ping request sent.
2025-06-05T16:57:16.447Z,1749142636.447 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:57:16.447Z,1749142636.447 [DAT](INFO): publishing transmit ping time
2025-06-05T16:57:16.691Z,1749142636.691 [DAT](INFO): DAT read: TxSync time:16:57:15.6082

2025-06-05T16:57:16.900Z,1749142636.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:17.256Z,1749142637.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:17.686Z,1749142637.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:18.061Z,1749142638.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:18.413Z,1749142638.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:18.854Z,1749142638.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:19.221Z,1749142639.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:19.680Z,1749142639.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:20.087Z,1749142640.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:20.437Z,1749142640.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:20.874Z,1749142640.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:21.236Z,1749142641.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:21.656Z,1749142641.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:22.088Z,1749142642.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:22.448Z,1749142642.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:22.902Z,1749142642.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:23.272Z,1749142643.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:23.680Z,1749142643.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:24.140Z,1749142644.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:24.484Z,1749142644.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:24.908Z,1749142644.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:25.301Z,1749142645.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:25.682Z,1749142645.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:26.157Z,1749142646.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:26.510Z,1749142646.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:27.009Z,1749142647.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:27.279Z,1749142647.279 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:57:27.279Z,1749142647.279 [DAT](INFO): response not received
2025-06-05T16:57:27.280Z,1749142647.280 [DAT](INFO): DAT read: user:2496>

2025-06-05T16:57:27.280Z,1749142647.280 [DAT](INFO): DAT read: Tx time:16:57:26.5590

2025-06-05T16:57:27.281Z,1749142647.281 [DAT](INFO): Ping request sent.
2025-06-05T16:57:27.281Z,1749142647.281 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:57:27.282Z,1749142647.282 [DAT](INFO): publishing transmit ping time
2025-06-05T16:57:27.424Z,1749142647.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:27.534Z,1749142647.534 [DAT](INFO): DAT read: TxSync time:16:57:26.5583

2025-06-05T16:57:27.894Z,1749142647.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:28.373Z,1749142648.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:28.749Z,1749142648.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:29.173Z,1749142649.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:29.573Z,1749142649.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:29.947Z,1749142649.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:30.327Z,1749142650.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:30.734Z,1749142650.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:31.161Z,1749142651.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:31.536Z,1749142651.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:31.961Z,1749142651.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:32.330Z,1749142652.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:32.735Z,1749142652.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:33.233Z,1749142653.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:33.567Z,1749142653.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:33.984Z,1749142653.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:34.391Z,1749142654.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:34.760Z,1749142654.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:35.249Z,1749142655.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:35.586Z,1749142655.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:36.029Z,1749142656.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:36.380Z,1749142656.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:36.793Z,1749142656.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:37.175Z,1749142657.175 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:57:37.222Z,1749142657.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:37.598Z,1749142657.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:38.063Z,1749142658.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:38.180Z,1749142658.180 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:57:38.367Z,1749142658.367 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:57:38.368Z,1749142658.368 [DAT](INFO): response not received
2025-06-05T16:57:38.368Z,1749142658.368 [DAT](INFO): DAT read: user:2497>

2025-06-05T16:57:38.369Z,1749142658.369 [DAT](INFO): DAT read: Tx time:16:57:37.5091

2025-06-05T16:57:38.369Z,1749142658.369 [DAT](INFO): Ping request sent.
2025-06-05T16:57:38.369Z,1749142658.369 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:57:38.369Z,1749142658.369 [DAT](INFO): publishing transmit ping time
2025-06-05T16:57:38.419Z,1749142658.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:38.619Z,1749142658.619 [DAT](INFO): DAT read: TxSync time:16:57:37.5083

2025-06-05T16:57:38.803Z,1749142658.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:39.241Z,1749142659.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:39.605Z,1749142659.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:40.071Z,1749142660.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:40.567Z,1749142660.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:57:40.569Z,1749142660.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:40.637Z,1749142660.637 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:57:40.637Z,1749142660.637 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:57:40.638Z,1749142660.638 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:57:40.887Z,1749142660.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517984
2025-06-05T16:57:40.891Z,1749142660.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:41.139Z,1749142661.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769852
2025-06-05T16:57:41.335Z,1749142661.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:41.393Z,1749142661.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023525
2025-06-05T16:57:41.643Z,1749142661.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273887
2025-06-05T16:57:41.695Z,1749142661.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:41.897Z,1749142661.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526939
2025-06-05T16:57:42.120Z,1749142662.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:42.147Z,1749142662.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777989
2025-06-05T16:57:42.401Z,1749142662.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031532
2025-06-05T16:57:42.478Z,1749142662.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:42.651Z,1749142662.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282184
2025-06-05T16:57:42.871Z,1749142662.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:42.903Z,1749142662.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534081
2025-06-05T16:57:43.155Z,1749142663.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785793
2025-06-05T16:57:43.334Z,1749142663.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:43.408Z,1749142663.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038493
2025-06-05T16:57:43.659Z,1749142663.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289807
2025-06-05T16:57:43.704Z,1749142663.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:43.911Z,1749142663.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542073
2025-06-05T16:57:44.135Z,1749142664.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:44.165Z,1749142664.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795215
2025-06-05T16:57:44.415Z,1749142664.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046003
2025-06-05T16:57:44.501Z,1749142664.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:44.667Z,1749142664.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297758
2025-06-05T16:57:44.915Z,1749142664.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:44.919Z,1749142664.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550029
2025-06-05T16:57:45.171Z,1749142665.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801932
2025-06-05T16:57:45.375Z,1749142665.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:45.424Z,1749142665.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054899
2025-06-05T16:57:45.676Z,1749142665.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306644
2025-06-05T16:57:45.802Z,1749142665.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:45.928Z,1749142665.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558410
2025-06-05T16:57:46.175Z,1749142666.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:46.179Z,1749142666.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809972
2025-06-05T16:57:46.433Z,1749142666.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063330
2025-06-05T16:57:46.526Z,1749142666.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:46.684Z,1749142666.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314545
2025-06-05T16:57:46.912Z,1749142666.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:46.935Z,1749142666.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565771
2025-06-05T16:57:47.187Z,1749142667.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817884
2025-06-05T16:57:47.380Z,1749142667.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:47.441Z,1749142667.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071024
2025-06-05T16:57:47.691Z,1749142667.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321924
2025-06-05T16:57:47.742Z,1749142667.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:47.943Z,1749142667.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573792
2025-06-05T16:57:48.195Z,1749142668.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825914
2025-06-05T16:57:48.229Z,1749142668.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:48.447Z,1749142668.447 [DAT](INFO): Reached modem response timeout
2025-06-05T16:57:48.447Z,1749142668.447 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:57:48.447Z,1749142668.447 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:57:48.575Z,1749142668.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:48.700Z,1749142668.700 [DAT](INFO): Reached modem response timeout
2025-06-05T16:57:48.700Z,1749142668.700 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:57:48.700Z,1749142668.700 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:57:48.941Z,1749142668.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:48.951Z,1749142668.951 [DAT](INFO): Reached modem response timeout
2025-06-05T16:57:48.951Z,1749142668.951 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:57:48.952Z,1749142668.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:57:49.206Z,1749142669.206 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:57:49.207Z,1749142669.207 [DAT](INFO): response not received
2025-06-05T16:57:49.207Z,1749142669.207 [DAT](INFO): DAT read: user:2498>

2025-06-05T16:57:49.208Z,1749142669.208 [DAT](INFO): DAT read: Tx time:16:57:48.4593

2025-06-05T16:57:49.208Z,1749142669.208 [DAT](INFO): Ping request sent.
2025-06-05T16:57:49.208Z,1749142669.208 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:57:49.208Z,1749142669.208 [DAT](INFO): publishing transmit ping time
2025-06-05T16:57:49.209Z,1749142669.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-06-05T16:57:49.375Z,1749142669.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:49.457Z,1749142669.457 [DAT](INFO): DAT read: TxSync time:16:57:48.4585

2025-06-05T16:57:49.458Z,1749142669.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249429
2025-06-05T16:57:49.707Z,1749142669.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498996
2025-06-05T16:57:49.753Z,1749142669.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:49.959Z,1749142669.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750919
2025-06-05T16:57:50.212Z,1749142670.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003452
2025-06-05T16:57:50.221Z,1749142670.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:50.464Z,1749142670.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255751
2025-06-05T16:57:50.574Z,1749142670.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:50.717Z,1749142670.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508417
2025-06-05T16:57:50.968Z,1749142670.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759643
2025-06-05T16:57:51.046Z,1749142671.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:51.219Z,1749142671.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011121
2025-06-05T16:57:51.471Z,1749142671.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263067
2025-06-05T16:57:51.473Z,1749142671.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:51.723Z,1749142671.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514957
2025-06-05T16:57:51.803Z,1749142671.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:51.975Z,1749142671.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767023
2025-06-05T16:57:52.227Z,1749142672.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019087
2025-06-05T16:57:52.389Z,1749142672.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:52.480Z,1749142672.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272154
2025-06-05T16:57:52.720Z,1749142672.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:52.733Z,1749142672.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524825
2025-06-05T16:57:52.984Z,1749142672.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775686
2025-06-05T16:57:53.161Z,1749142673.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:53.235Z,1749142673.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027227
2025-06-05T16:57:53.488Z,1749142673.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279652
2025-06-05T16:57:53.585Z,1749142673.585 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  +161,   -2,A
2025-06-05T16:57:53.608Z,1749142673.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:53.739Z,1749142673.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530984
2025-06-05T16:57:53.992Z,1749142673.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783528
2025-06-05T16:57:54.074Z,1749142674.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:54.243Z,1749142674.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035009
2025-06-05T16:57:54.495Z,1749142674.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287049
2025-06-05T16:57:54.546Z,1749142674.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:54.749Z,1749142674.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541006
2025-06-05T16:57:54.982Z,1749142674.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:55.000Z,1749142675.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791911
2025-06-05T16:57:55.251Z,1749142675.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042954
2025-06-05T16:57:55.406Z,1749142675.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:55.505Z,1749142675.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296682
2025-06-05T16:57:55.755Z,1749142675.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.547110
2025-06-05T16:57:55.805Z,1749142675.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:56.008Z,1749142676.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799744
2025-06-05T16:57:56.259Z,1749142676.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051081
2025-06-05T16:57:56.267Z,1749142676.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:56.511Z,1749142676.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.302984
2025-06-05T16:57:56.651Z,1749142676.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:56.764Z,1749142676.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555966
2025-06-05T16:57:57.006Z,1749142677.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:57.017Z,1749142677.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808413
2025-06-05T16:57:57.270Z,1749142677.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061111
2025-06-05T16:57:57.429Z,1749142677.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:57.520Z,1749142677.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311709
2025-06-05T16:57:57.771Z,1749142677.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562964
2025-06-05T16:57:57.807Z,1749142677.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:58.023Z,1749142678.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815053
2025-06-05T16:57:58.279Z,1749142678.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069716
2025-06-05T16:57:58.304Z,1749142678.304 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 81.82,  80.80,  83.86,  79.10
2025-06-05T16:57:58.320Z,1749142678.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:58.528Z,1749142678.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319830
2025-06-05T16:57:58.626Z,1749142678.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:58.779Z,1749142678.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571021
2025-06-05T16:57:59.025Z,1749142679.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:59.032Z,1749142679.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823851
2025-06-05T16:57:59.285Z,1749142679.285 [DAT](INFO): Reached modem response timeout
2025-06-05T16:57:59.480Z,1749142679.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:57:59.837Z,1749142679.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:58:00.294Z,1749142680.294 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:58:00.295Z,1749142680.295 [DAT](INFO): response not received
2025-06-05T16:58:00.297Z,1749142680.297 [DAT](INFO): DAT read: user:2499>

2025-06-05T16:58:00.301Z,1749142680.301 [DAT](INFO): DAT read: Tx time:16:57:59.4094

2025-06-05T16:58:00.302Z,1749142680.302 [DAT](INFO): Ping request sent.
2025-06-05T16:58:00.302Z,1749142680.302 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:58:00.303Z,1749142680.303 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:00.305Z,1749142680.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002656
2025-06-05T16:58:00.316Z,1749142680.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:58:00.544Z,1749142680.544 [DAT](INFO): DAT read: TxSync time:16:57:59.4086

2025-06-05T16:58:00.545Z,1749142680.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242909
2025-06-05T16:58:00.684Z,1749142680.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:58:00.795Z,1749142680.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493509
2025-06-05T16:58:01.041Z,1749142681.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:58:01.049Z,1749142681.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746835
2025-06-05T16:58:01.301Z,1749142681.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999070
2025-06-05T16:58:01.508Z,1749142681.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:58:01.552Z,1749142681.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250018
2025-06-05T16:58:01.806Z,1749142681.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503801
2025-06-05T16:58:01.852Z,1749142681.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:58:02.059Z,1749142682.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757133
2025-06-05T16:58:02.315Z,1749142682.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012052
2025-06-05T16:58:02.319Z,1749142682.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:58:02.564Z,1749142682.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261895
2025-06-05T16:58:02.691Z,1749142682.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:58:02.816Z,1749142682.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514396
2025-06-05T16:58:03.060Z,1749142683.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:58:03.067Z,1749142683.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765296
2025-06-05T16:58:03.323Z,1749142683.323 [DAT](INFO): DAT read: Rx Time:16:58:02.0474

2025-06-05T16:58:03.325Z,1749142683.325 [DAT](INFO): Rx dataTimestamp_ set to:1749142683.323757
2025-06-05T16:58:03.328Z,1749142683.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025082
2025-06-05T16:58:03.499Z,1749142683.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:58:03.572Z,1749142683.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270163
2025-06-05T16:58:03.825Z,1749142683.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522943
2025-06-05T16:58:03.905Z,1749142683.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-06-05T16:58:04.081Z,1749142684.081 [DAT](INFO): DAT read: 16:58:02.0474 LVL= 32400, 20081, 26082, 32755, AGC= 68, IDX= 119,-0.14, 1.563,-3.073, 1.784, 1.357, PHS= 0.294, 1.900, 0.424, RAW= 325.8, -30.9, CAL= 327.3, -44.5, ROT= 182.7,  44.5

2025-06-05T16:58:04.083Z,1749142684.083 [DAT](INFO): got valid direction response:
 16:58:02.0474 LVL= 32400, 20081, 26082, 32755, AGC= 68, IDX= 119,-0.14, 1.563,-3.073, 1.784, 1.357, PHS= 0.294, 1.900, 0.424, RAW= 325.8, -30.9, CAL= 327.3, -44.5, ROT= 182.7,  44.5

2025-06-05T16:58:04.084Z,1749142684.084 [DAT](INFO): DAT read: Bearing 182.7,  44.5 (Local)

2025-06-05T16:58:04.084Z,1749142684.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.7,  44.5 (Local)

2025-06-05T16:58:04.089Z,1749142684.089 [DAT](INFO): DAT read: Range 10 to 50 : 175.3 m  (Round-trip  233.8 ms) speed -0.7 m/s

2025-06-05T16:58:04.090Z,1749142684.090 [DAT](INFO): DAT read: user:2500>

2025-06-05T16:58:04.091Z,1749142684.091 [DAT](INFO): DAT read: Tx time:16:58:03.1594

2025-06-05T16:58:04.092Z,1749142684.092 [DAT](INFO): Ping request sent.
2025-06-05T16:58:04.092Z,1749142684.092 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:58:04.092Z,1749142684.092 [DAT](INFO): DAT read: TxSync time:16:58:03.1586

2025-06-05T16:58:04.093Z,1749142684.093 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:58:04.094Z,1749142684.094 [DAT](INFO): direction in FSK: [-0.712459,-0.033599,-0.700909]
2025-06-05T16:58:04.103Z,1749142684.103 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:04.103Z,1749142684.103 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:04.107Z,1749142684.107 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:04.107Z,1749142684.107 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:04.495Z,1749142684.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 175.300003 m,
      deltaT: 58.471997 s,
      deltaX: 102.500000 m,
      approachRate: 1.752976 m/s,
      rangeRepo size: 4

2025-06-05T16:58:04.498Z,1749142684.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 173.866791 m,
      bearing: 137.142263 deg,
      lat: 36.906273 deg,
      lon: -122.115941 deg,
      deltaT: 58.471997 s,
      deltaX: 101.667305 m,
      approachRate: 1.738735 m/s,
      posRepo size: 4

2025-06-05T16:58:04.503Z,1749142684.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.87 m.
2025-06-05T16:58:04.503Z,1749142684.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 175.30 m. Resuming terminal guidance.
2025-06-05T16:58:04.503Z,1749142684.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-05T16:58:04.899Z,1749142684.899 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-05T16:58:04.899Z,1749142684.899 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T16:58:04.900Z,1749142684.900 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-05T16:58:04.901Z,1749142684.901 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 175.300003 m (mode  1.000000 count ).
2025-06-05T16:58:04.901Z,1749142684.901 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-05T16:58:04.901Z,1749142684.901 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-05T16:58:05.252Z,1749142685.252 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-05T16:58:05.252Z,1749142685.252 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-05T16:58:05.253Z,1749142685.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:05.337Z,1749142685.337 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:05.338Z,1749142685.338 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:05.339Z,1749142685.339 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:05.588Z,1749142685.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496160
2025-06-05T16:58:05.668Z,1749142685.668 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-05T16:58:05.668Z,1749142685.668 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-05T16:58:05.839Z,1749142685.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747284
2025-06-05T16:58:06.027Z,1749142686.027 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-05T16:58:06.027Z,1749142686.027 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T16:58:06.027Z,1749142686.027 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-05T16:58:06.027Z,1749142686.027 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T16:58:06.092Z,1749142686.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000179
2025-06-05T16:58:06.346Z,1749142686.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253513
2025-06-05T16:58:06.596Z,1749142686.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504214
2025-06-05T16:58:06.849Z,1749142686.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756975
2025-06-05T16:58:07.100Z,1749142687.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008564
2025-06-05T16:58:07.351Z,1749142687.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259469
2025-06-05T16:58:07.603Z,1749142687.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511556
2025-06-05T16:58:07.678Z,1749142687.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:07.857Z,1749142687.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764844
2025-06-05T16:58:08.108Z,1749142688.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016336
2025-06-05T16:58:08.311Z,1749142688.311 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:58:08.363Z,1749142688.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270947
2025-06-05T16:58:08.611Z,1749142688.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.519486
2025-06-05T16:58:08.864Z,1749142688.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.772342
2025-06-05T16:58:09.116Z,1749142689.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.024479
2025-06-05T16:58:09.315Z,1749142689.315 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:58:09.367Z,1749142689.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.275508
2025-06-05T16:58:09.619Z,1749142689.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.527397
2025-06-05T16:58:09.689Z,1749142689.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:09.871Z,1749142689.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.779414
2025-06-05T16:58:10.126Z,1749142690.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034692
2025-06-05T16:58:10.376Z,1749142690.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.284407
2025-06-05T16:58:10.627Z,1749142690.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.535674
2025-06-05T16:58:10.879Z,1749142690.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.787558
2025-06-05T16:58:11.138Z,1749142691.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.046076
2025-06-05T16:58:11.392Z,1749142691.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300269
2025-06-05T16:58:11.643Z,1749142691.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.551573
2025-06-05T16:58:11.694Z,1749142691.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:11.895Z,1749142691.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.803336
2025-06-05T16:58:12.147Z,1749142692.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055440
2025-06-05T16:58:12.402Z,1749142692.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.309346
2025-06-05T16:58:12.651Z,1749142692.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559745
2025-06-05T16:58:12.904Z,1749142692.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.811840
2025-06-05T16:58:13.155Z,1749142693.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.063481
2025-06-05T16:58:13.407Z,1749142693.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.315385
2025-06-05T16:58:13.659Z,1749142693.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.567519
2025-06-05T16:58:13.722Z,1749142693.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:13.913Z,1749142693.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.820915
2025-06-05T16:58:14.164Z,1749142694.164 [DAT](INFO): Reached modem response timeout
2025-06-05T16:58:14.165Z,1749142694.165 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:58:14.165Z,1749142694.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:14.416Z,1749142694.416 [DAT](INFO): Reached modem response timeout
2025-06-05T16:58:14.416Z,1749142694.416 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:58:14.416Z,1749142694.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:14.668Z,1749142694.668 [DAT](INFO): Reached modem response timeout
2025-06-05T16:58:14.668Z,1749142694.668 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:58:14.668Z,1749142694.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:14.919Z,1749142694.919 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:58:14.920Z,1749142694.920 [DAT](INFO): response not received
2025-06-05T16:58:14.920Z,1749142694.920 [DAT](INFO): DAT read: user:2501>

2025-06-05T16:58:14.921Z,1749142694.921 [DAT](INFO): DAT read: Tx time:16:58:14.1095

2025-06-05T16:58:14.921Z,1749142694.921 [DAT](INFO): Ping request sent.
2025-06-05T16:58:14.921Z,1749142694.921 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:58:14.921Z,1749142694.921 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:14.922Z,1749142694.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-06-05T16:58:15.171Z,1749142695.171 [DAT](INFO): DAT read: TxSync time:16:58:14.1087

2025-06-05T16:58:15.172Z,1749142695.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250805
2025-06-05T16:58:15.424Z,1749142695.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502438
2025-06-05T16:58:15.675Z,1749142695.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753882
2025-06-05T16:58:15.780Z,1749142695.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:15.927Z,1749142695.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005913
2025-06-05T16:58:16.179Z,1749142696.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258092
2025-06-05T16:58:16.432Z,1749142696.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511215
2025-06-05T16:58:16.684Z,1749142696.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762608
2025-06-05T16:58:16.938Z,1749142696.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016238
2025-06-05T16:58:17.187Z,1749142697.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266044
2025-06-05T16:58:17.440Z,1749142697.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518369
2025-06-05T16:58:17.691Z,1749142697.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770237
2025-06-05T16:58:17.944Z,1749142697.944 [DAT](INFO): DAT read: Rx Time:16:58:16.6881

2025-06-05T16:58:17.945Z,1749142697.945 [DAT](INFO): Rx dataTimestamp_ set to:1749142697.944636
2025-06-05T16:58:17.945Z,1749142697.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024327
2025-06-05T16:58:18.111Z,1749142698.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:18.196Z,1749142698.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274659
2025-06-05T16:58:18.448Z,1749142698.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526592
2025-06-05T16:58:18.706Z,1749142698.706 [DAT](INFO): DAT read: 16:58:16.6881 LVL= 23872, 26193, 22770, 32627, AGC= 66, IDX= 294,-0.06, 0.943, 2.027,-0.416, 0.824, PHS= 0.207, 1.250,-1.243, RAW=   5.4,  -2.0, CAL=   5.4,  -3.9, ROT= 144.6,   3.9

2025-06-05T16:58:18.707Z,1749142698.707 [DAT](INFO): got valid direction response:
 16:58:16.6881 LVL= 23872, 26193, 22770, 32627, AGC= 66, IDX= 294,-0.06, 0.943, 2.027,-0.416, 0.824, PHS= 0.207, 1.250,-1.243, RAW=   5.4,  -2.0, CAL=   5.4,  -3.9, ROT= 144.6,   3.9

2025-06-05T16:58:18.708Z,1749142698.708 [DAT](INFO): DAT read: Bearing 144.6,   3.9 (Local)

2025-06-05T16:58:18.709Z,1749142698.709 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.6,   3.9 (Local)

2025-06-05T16:58:18.711Z,1749142698.711 [DAT](INFO): DAT read: Range 10 to 50 : 130.8 m  (Round-trip  174.4 ms) speed -0.2 m/s

2025-06-05T16:58:18.711Z,1749142698.711 [DAT](INFO): DAT read: user:2502>

2025-06-05T16:58:18.712Z,1749142698.712 [DAT](INFO): DAT read: Tx time:16:58:17.8096

2025-06-05T16:58:18.712Z,1749142698.712 [DAT](INFO): Ping request sent.
2025-06-05T16:58:18.712Z,1749142698.712 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:58:18.713Z,1749142698.713 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:58:18.714Z,1749142698.714 [DAT](INFO): direction in FSK: [-0.813240,0.577940,-0.068015]
2025-06-05T16:58:18.715Z,1749142698.715 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:18.716Z,1749142698.716 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:18.722Z,1749142698.722 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:18.722Z,1749142698.722 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:18.951Z,1749142698.951 [DAT](INFO): DAT read: TxSync time:16:58:17.8088

2025-06-05T16:58:19.010Z,1749142699.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.800003 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-06-05T16:58:19.017Z,1749142699.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.729233 m,
      bearing: 149.686858 deg,
      lat: 36.906273 deg,
      lon: -122.115950 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-06-05T16:58:19.017Z,1749142699.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m.
2025-06-05T16:58:19.025Z,1749142699.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 129.729233 m,
      nav range: 128.495819 m,
      bearing: 144.064704 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 135.707927 deg,
      new cmd heading: 144.064704 deg.

2025-06-05T16:58:19.032Z,1749142699.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.514403 target range: 129.729233 and range: 130.80 m.
2025-06-05T16:58:19.360Z,1749142699.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m.
2025-06-05T16:58:19.378Z,1749142699.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 129.729233 m,
      nav range: 128.652817 m,
      bearing: 144.148803 deg,
      approach rate: 0.449795 m/s,
      LOS rate: 0.240649 deg/s,
      cmd heading: 144.064700 deg,
      new cmd heading: 144.148803 deg.

2025-06-05T16:58:19.379Z,1749142699.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.515871 target range: 129.729233 and range: 130.80 m.
2025-06-05T16:58:19.780Z,1749142699.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m.
2025-06-05T16:58:19.803Z,1749142699.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 129.729233 m,
      nav range: 128.828232 m,
      bearing: 144.251257 deg,
      approach rate: 0.416058 m/s,
      LOS rate: 0.242673 deg/s,
      cmd heading: 144.148807 deg,
      new cmd heading: 144.251257 deg.

2025-06-05T16:58:19.804Z,1749142699.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517659 target range: 129.729233 and range: 130.80 m.
2025-06-05T16:58:20.162Z,1749142700.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:20.165Z,1749142700.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m.
2025-06-05T16:58:20.168Z,1749142700.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 129.729233 m,
      nav range: 128.983139 m,
      bearing: 144.346820 deg,
      approach rate: 0.402803 m/s,
      LOS rate: 0.248193 deg/s,
      cmd heading: 144.251259 deg,
      new cmd heading: 144.346820 deg.

2025-06-05T16:58:20.169Z,1749142700.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.519327 target range: 129.729233 and range: 130.80 m.
2025-06-05T16:58:20.216Z,1749142700.216 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:20.216Z,1749142700.216 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:20.216Z,1749142700.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:20.467Z,1749142700.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754722
2025-06-05T16:58:20.657Z,1749142700.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m.
2025-06-05T16:58:20.660Z,1749142700.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 129.729233 m,
      nav range: 129.178345 m,
      bearing: 144.473425 deg,
      approach rate: 0.396231 m/s,
      LOS rate: 0.256596 deg/s,
      cmd heading: 144.346814 deg,
      new cmd heading: 144.473425 deg.

2025-06-05T16:58:20.660Z,1749142700.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.521537 target range: 129.729233 and range: 130.80 m.
2025-06-05T16:58:20.720Z,1749142700.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007242
2025-06-05T16:58:20.971Z,1749142700.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258912
2025-06-05T16:58:20.995Z,1749142700.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m.
2025-06-05T16:58:20.998Z,1749142700.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 129.729233 m,
      nav range: 129.313568 m,
      bearing: 144.560678 deg,
      approach rate: 0.399930 m/s,
      LOS rate: 0.257784 deg/s,
      cmd heading: 144.473432 deg,
      new cmd heading: 144.560678 deg.

2025-06-05T16:58:20.999Z,1749142700.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.523060 target range: 129.729233 and range: 130.80 m.
2025-06-05T16:58:21.224Z,1749142701.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511536
2025-06-05T16:58:21.402Z,1749142701.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m.
2025-06-05T16:58:21.405Z,1749142701.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 129.729233 m,
      nav range: 129.450531 m,
      bearing: 144.659711 deg,
      approach rate: 0.339716 m/s,
      LOS rate: 0.245377 deg/s,
      cmd heading: 144.560681 deg,
      new cmd heading: 144.659711 deg.

2025-06-05T16:58:21.406Z,1749142701.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.524788 target range: 129.729233 and range: 130.80 m.
2025-06-05T16:58:21.477Z,1749142701.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764291
2025-06-05T16:58:21.727Z,1749142701.727 [DAT](INFO): DAT read: Rx Time:16:58:20.3902

2025-06-05T16:58:21.728Z,1749142701.728 [DAT](INFO): Rx dataTimestamp_ set to:1749142701.727352
2025-06-05T16:58:21.728Z,1749142701.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015781
2025-06-05T16:58:21.834Z,1749142701.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m.
2025-06-05T16:58:21.837Z,1749142701.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 129.729233 m,
      nav range: 129.625824 m,
      bearing: 144.786669 deg,
      approach rate: 0.402080 m/s,
      LOS rate: 0.290817 deg/s,
      cmd heading: 144.659705 deg,
      new cmd heading: 144.786669 deg.

2025-06-05T16:58:21.838Z,1749142701.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.527004 target range: 129.729233 and range: 130.80 m.
2025-06-05T16:58:21.979Z,1749142701.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266748
2025-06-05T16:58:22.238Z,1749142702.238 [DAT](INFO): DAT read: 16:58:20.3902 LVL= 17392, 20417, 18274, 25155, AGC= 59, IDX= 443, 0.23, 0.799, 1.328,-0.898, 0.276, PHS= 0.611, 1.099,-1.178, RAW=  18.3,  -5.2, CAL=  18.1,  -8.6, ROT= 131.9,   8.6

2025-06-05T16:58:22.239Z,1749142702.239 [DAT](INFO): got valid direction response:
 16:58:20.3902 LVL= 17392, 20417, 18274, 25155, AGC= 59, IDX= 443, 0.23, 0.799, 1.328,-0.898, 0.276, PHS= 0.611, 1.099,-1.178, RAW=  18.3,  -5.2, CAL=  18.1,  -8.6, ROT= 131.9,   8.6

2025-06-05T16:58:22.240Z,1749142702.240 [DAT](INFO): DAT read: Bearing 131.9,   8.6 (Local)

2025-06-05T16:58:22.241Z,1749142702.241 [DAT](INFO): Local bearing/azimuth received:
 Bearing 131.9,   8.6 (Local)

2025-06-05T16:58:22.242Z,1749142702.242 [DAT](INFO): DAT read: Range 10 to 50 : 132.3 m  (Round-trip  176.4 ms) speed -0.3 m/s

2025-06-05T16:58:22.243Z,1749142702.243 [DAT](INFO): DAT read: user:2503>

2025-06-05T16:58:22.244Z,1749142702.244 [DAT](INFO): DAT read: Tx time:16:58:21.5096

2025-06-05T16:58:22.244Z,1749142702.244 [DAT](INFO): Ping request sent.
2025-06-05T16:58:22.244Z,1749142702.244 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:58:22.244Z,1749142702.244 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:58:22.245Z,1749142702.245 [DAT](INFO): direction in FSK: [-0.660324,0.735943,-0.149535]
2025-06-05T16:58:22.246Z,1749142702.246 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:22.246Z,1749142702.246 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:22.261Z,1749142702.261 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:22.261Z,1749142702.261 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:22.375Z,1749142702.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 132.300003 m,
      deltaT: 3.531703 s,
      deltaX: 1.500000 m,
      approachRate: 0.424724 m/s,
      rangeRepo size: 2

2025-06-05T16:58:22.377Z,1749142702.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 131.216919 m,
      bearing: 150.489579 deg,
      lat: 36.906273 deg,
      lon: -122.115957 deg,
      deltaT: 3.531703 s,
      deltaX: 1.487686 m,
      approachRate: 0.421238 m/s,
      posRepo size: 2

2025-06-05T16:58:22.387Z,1749142702.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m.
2025-06-05T16:58:22.389Z,1749142702.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.216919 m,
      nav range: 129.416718 m,
      bearing: 145.170468 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.290817 deg/s,
      cmd heading: 144.786664 deg,
      new cmd heading: 145.239522 deg.

2025-06-05T16:58:22.400Z,1749142702.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.534908 target range: 131.216919 and range: 132.30 m.
2025-06-05T16:58:22.484Z,1749142702.484 [DAT](INFO): DAT read: TxSync time:16:58:21.5088

2025-06-05T16:58:22.862Z,1749142702.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:22.880Z,1749142702.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m.
2025-06-05T16:58:22.885Z,1749142702.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.216919 m,
      nav range: 129.588669 m,
      bearing: 145.326509 deg,
      approach rate: 0.326485 m/s,
      LOS rate: 0.295882 deg/s,
      cmd heading: 145.239519 deg,
      new cmd heading: 145.707010 deg.

2025-06-05T16:58:22.886Z,1749142702.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.543067 target range: 131.216919 and range: 132.30 m.
2025-06-05T16:58:22.989Z,1749142702.989 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:22.989Z,1749142702.989 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:22.990Z,1749142702.990 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:23.240Z,1749142703.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995793
2025-06-05T16:58:23.358Z,1749142703.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m.
2025-06-05T16:58:23.361Z,1749142703.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.216919 m,
      nav range: 129.731720 m,
      bearing: 145.465003 deg,
      approach rate: 0.317699 m/s,
      LOS rate: 0.307238 deg/s,
      cmd heading: 145.707005 deg,
      new cmd heading: 146.122019 deg.

2025-06-05T16:58:23.367Z,1749142703.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.550310 target range: 131.216919 and range: 132.30 m.
2025-06-05T16:58:23.491Z,1749142703.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247213
2025-06-05T16:58:23.743Z,1749142703.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499053
2025-06-05T16:58:23.769Z,1749142703.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m.
2025-06-05T16:58:23.772Z,1749142703.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.216919 m,
      nav range: 129.869904 m,
      bearing: 145.595333 deg,
      approach rate: 0.314544 m/s,
      LOS rate: 0.296351 deg/s,
      cmd heading: 146.122021 deg,
      new cmd heading: 146.512588 deg.

2025-06-05T16:58:23.773Z,1749142703.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557127 target range: 131.216919 and range: 132.30 m.
2025-06-05T16:58:23.995Z,1749142703.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751027
2025-06-05T16:58:24.171Z,1749142704.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m.
2025-06-05T16:58:24.174Z,1749142704.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.216919 m,
      nav range: 129.988708 m,
      bearing: 145.715088 deg,
      approach rate: 0.295928 m/s,
      LOS rate: 0.298024 deg/s,
      cmd heading: 146.512585 deg,
      new cmd heading: 146.871519 deg.

2025-06-05T16:58:24.191Z,1749142704.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563392 target range: 131.216919 and range: 132.30 m.
2025-06-05T16:58:24.247Z,1749142704.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003207
2025-06-05T16:58:24.500Z,1749142704.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256228
2025-06-05T16:58:24.592Z,1749142704.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m.
2025-06-05T16:58:24.596Z,1749142704.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.216919 m,
      nav range: 130.103439 m,
      bearing: 145.838870 deg,
      approach rate: 0.272187 m/s,
      LOS rate: 0.293399 deg/s,
      cmd heading: 146.871525 deg,
      new cmd heading: 147.242535 deg.

2025-06-05T16:58:24.597Z,1749142704.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569867 target range: 131.216919 and range: 132.30 m.
2025-06-05T16:58:24.754Z,1749142704.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508922
2025-06-05T16:58:24.988Z,1749142704.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:24.990Z,1749142704.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m.
2025-06-05T16:58:24.993Z,1749142704.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.216919 m,
      nav range: 130.213669 m,
      bearing: 145.964595 deg,
      approach rate: 0.277262 m/s,
      LOS rate: 0.315971 deg/s,
      cmd heading: 147.242541 deg,
      new cmd heading: 147.619392 deg.

2025-06-05T16:58:25.003Z,1749142705.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758879
2025-06-05T16:58:24.994Z,1749142704.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.576444 target range: 131.216919 and range: 132.30 m.
2025-06-05T16:58:25.256Z,1749142705.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011726
2025-06-05T16:58:25.379Z,1749142705.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m.
2025-06-05T16:58:25.384Z,1749142705.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.216919 m,
      nav range: 130.310150 m,
      bearing: 146.082507 deg,
      approach rate: 0.248454 m/s,
      LOS rate: 0.303416 deg/s,
      cmd heading: 147.619390 deg,
      new cmd heading: 147.972858 deg.

2025-06-05T16:58:25.385Z,1749142705.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.582613 target range: 131.216919 and range: 132.30 m.
2025-06-05T16:58:25.508Z,1749142705.508 [DAT](INFO): DAT read: Rx Time:16:58:24.0920

2025-06-05T16:58:25.509Z,1749142705.509 [DAT](INFO): Rx dataTimestamp_ set to:1749142705.508034
2025-06-05T16:58:25.510Z,1749142705.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265183
2025-06-05T16:58:25.759Z,1749142705.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515261
2025-06-05T16:58:25.811Z,1749142705.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m.
2025-06-05T16:58:25.813Z,1749142705.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.216919 m,
      nav range: 130.408203 m,
      bearing: 146.207108 deg,
      approach rate: 0.229296 m/s,
      LOS rate: 0.291159 deg/s,
      cmd heading: 147.972852 deg,
      new cmd heading: 148.346369 deg.

2025-06-05T16:58:25.819Z,1749142705.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.589133 target range: 131.216919 and range: 132.30 m.
2025-06-05T16:58:26.017Z,1749142706.017 [DAT](INFO): DAT read: 16:58:24.0920 LVL= 18000, 25297, 22578, 30323, AGC= 61, IDX= 445,-0.13, 2.918, 2.330, 0.646, 1.697, PHS= 1.308, 0.679,-1.054, RAW=  44.9,  -8.9, CAL=  49.6, -15.2, ROT= 100.4,  15.2

2025-06-05T16:58:26.018Z,1749142706.018 [DAT](INFO): got valid direction response:
 16:58:24.0920 LVL= 18000, 25297, 22578, 30323, AGC= 61, IDX= 445,-0.13, 2.918, 2.330, 0.646, 1.697, PHS= 1.308, 0.679,-1.054, RAW=  44.9,  -8.9, CAL=  49.6, -15.2, ROT= 100.4,  15.2

2025-06-05T16:58:26.019Z,1749142706.019 [DAT](INFO): DAT read: Bearing 100.4,  15.2 (Local)

2025-06-05T16:58:26.020Z,1749142706.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.4,  15.2 (Local)

2025-06-05T16:58:26.021Z,1749142706.021 [DAT](INFO): DAT read: Range 10 to 50 : 133.6 m  (Round-trip  178.2 ms) speed -0.4 m/s

2025-06-05T16:58:26.022Z,1749142706.022 [DAT](INFO): DAT read: user:2504>

2025-06-05T16:58:26.023Z,1749142706.023 [DAT](INFO): DAT read: Tx time:16:58:25.2097

2025-06-05T16:58:26.023Z,1749142706.023 [DAT](INFO): Ping request sent.
2025-06-05T16:58:26.023Z,1749142706.023 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:58:26.023Z,1749142706.023 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:58:26.024Z,1749142706.024 [DAT](INFO): direction in FSK: [-0.174204,0.949163,-0.262189]
2025-06-05T16:58:26.025Z,1749142706.025 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:26.025Z,1749142706.025 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:26.028Z,1749142706.028 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:26.028Z,1749142706.028 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:26.234Z,1749142706.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 133.600006 m,
      deltaT: 3.779185 s,
      deltaX: 1.300003 m,
      approachRate: 0.343990 m/s,
      rangeRepo size: 3

2025-06-05T16:58:26.236Z,1749142706.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 132.505661 m,
      bearing: 134.354709 deg,
      lat: 36.906276 deg,
      lon: -122.115957 deg,
      deltaT: 3.779185 s,
      deltaX: 1.288742 m,
      approachRate: 0.341011 m/s,
      posRepo size: 3

2025-06-05T16:58:26.237Z,1749142706.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.51 m.
2025-06-05T16:58:26.244Z,1749142706.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.505661 m,
      nav range: 130.260635 m,
      bearing: 146.264941 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.291159 deg/s,
      cmd heading: 148.346368 deg,
      new cmd heading: 148.705590 deg.

2025-06-05T16:58:26.245Z,1749142706.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.595402 target range: 132.505661 and range: 133.60 m.
2025-06-05T16:58:26.263Z,1749142706.263 [DAT](INFO): DAT read: TxSync time:16:58:25.2089

2025-06-05T16:58:26.578Z,1749142706.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.51 m.
2025-06-05T16:58:26.582Z,1749142706.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.505661 m,
      nav range: 130.339890 m,
      bearing: 146.383947 deg,
      approach rate: 0.219653 m/s,
      LOS rate: 0.329627 deg/s,
      cmd heading: 148.705595 deg,
      new cmd heading: 149.062393 deg.

2025-06-05T16:58:26.584Z,1749142706.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.601629 target range: 132.505661 and range: 133.60 m.
2025-06-05T16:58:27.074Z,1749142707.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:27.080Z,1749142707.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.51 m.
2025-06-05T16:58:27.107Z,1749142707.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.505661 m,
      nav range: 130.438370 m,
      bearing: 146.525767 deg,
      approach rate: 0.196118 m/s,
      LOS rate: 0.282213 deg/s,
      cmd heading: 149.062390 deg,
      new cmd heading: 149.487520 deg.

2025-06-05T16:58:27.108Z,1749142707.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609049 target range: 132.505661 and range: 133.60 m.
2025-06-05T16:58:27.271Z,1749142707.271 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:27.271Z,1749142707.271 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:27.271Z,1749142707.271 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:27.413Z,1749142707.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.51 m.
2025-06-05T16:58:27.417Z,1749142707.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.505661 m,
      nav range: 130.503143 m,
      bearing: 146.640588 deg,
      approach rate: 0.194512 m/s,
      LOS rate: 0.344630 deg/s,
      cmd heading: 149.487515 deg,
      new cmd heading: 149.831801 deg.

2025-06-05T16:58:27.419Z,1749142707.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.615058 target range: 132.505661 and range: 133.60 m.
2025-06-05T16:58:27.525Z,1749142707.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501026
2025-06-05T16:58:27.775Z,1749142707.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751863
2025-06-05T16:58:27.853Z,1749142707.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.51 m.
2025-06-05T16:58:27.860Z,1749142707.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.505661 m,
      nav range: 130.567886 m,
      bearing: 146.768114 deg,
      approach rate: 0.147178 m/s,
      LOS rate: 0.289756 deg/s,
      cmd heading: 149.831797 deg,
      new cmd heading: 150.214180 deg.

2025-06-05T16:58:27.861Z,1749142707.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.621732 target range: 132.505661 and range: 133.60 m.
2025-06-05T16:58:28.027Z,1749142708.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003914
2025-06-05T16:58:28.256Z,1749142708.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.51 m.
2025-06-05T16:58:28.283Z,1749142708.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259127
2025-06-05T16:58:28.284Z,1749142708.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.505661 m,
      nav range: 130.624969 m,
      bearing: 146.895221 deg,
      approach rate: 0.141766 m/s,
      LOS rate: 0.315532 deg/s,
      cmd heading: 150.214178 deg,
      new cmd heading: 150.595328 deg.

2025-06-05T16:58:28.285Z,1749142708.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.628384 target range: 132.505661 and range: 133.60 m.
2025-06-05T16:58:28.532Z,1749142708.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508260
2025-06-05T16:58:28.648Z,1749142708.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.51 m.
2025-06-05T16:58:28.656Z,1749142708.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.505661 m,
      nav range: 130.669144 m,
      bearing: 147.007760 deg,
      approach rate: 0.112669 m/s,
      LOS rate: 0.286939 deg/s,
      cmd heading: 150.595330 deg,
      new cmd heading: 150.932827 deg.

2025-06-05T16:58:28.657Z,1749142708.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.634275 target range: 132.505661 and range: 133.60 m.
2025-06-05T16:58:28.784Z,1749142708.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761076
2025-06-05T16:58:29.035Z,1749142709.035 [DAT](INFO): DAT read: Rx Time:16:58:27.7931

2025-06-05T16:58:29.036Z,1749142709.036 [DAT](INFO): Rx dataTimestamp_ set to:1749142709.035409
2025-06-05T16:58:29.036Z,1749142709.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013155
2025-06-05T16:58:29.107Z,1749142709.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:29.110Z,1749142709.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.51 m.
2025-06-05T16:58:29.116Z,1749142709.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.505661 m,
      nav range: 130.725616 m,
      bearing: 147.149433 deg,
      approach rate: 0.122314 m/s,
      LOS rate: 0.306717 deg/s,
      cmd heading: 150.932824 deg,
      new cmd heading: 151.357652 deg.

2025-06-05T16:58:29.117Z,1749142709.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.641689 target range: 132.505661 and range: 133.60 m.
2025-06-05T16:58:29.288Z,1749142709.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265237
2025-06-05T16:58:29.425Z,1749142709.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.51 m.
2025-06-05T16:58:29.453Z,1749142709.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.505661 m,
      nav range: 130.753372 m,
      bearing: 147.247144 deg,
      approach rate: 0.087912 m/s,
      LOS rate: 0.309418 deg/s,
      cmd heading: 151.357648 deg,
      new cmd heading: 151.650714 deg.

2025-06-05T16:58:29.470Z,1749142709.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.646804 target range: 132.505661 and range: 133.60 m.
2025-06-05T16:58:29.540Z,1749142709.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516701
2025-06-05T16:58:29.797Z,1749142709.797 [DAT](INFO): DAT read: 16:58:27.7931 LVL= 18176, 32753, 31922, 32755, AGC= 64, IDX= 456, 0.13,-0.391,-1.207,-2.547,-1.602, PHS= 1.300, 0.442,-0.948, RAW=  52.2,  -8.1, CAL=  58.5, -14.5, ROT=  91.5,  14.5

2025-06-05T16:58:29.799Z,1749142709.799 [DAT](INFO): got valid direction response:
 16:58:27.7931 LVL= 18176, 32753, 31922, 32755, AGC= 64, IDX= 456, 0.13,-0.391,-1.207,-2.547,-1.602, PHS= 1.300, 0.442,-0.948, RAW=  52.2,  -8.1, CAL=  58.5, -14.5, ROT=  91.5,  14.5

2025-06-05T16:58:29.800Z,1749142709.800 [DAT](INFO): DAT read: Bearing  91.5,  14.5 (Local)

2025-06-05T16:58:29.801Z,1749142709.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.5,  14.5 (Local)

2025-06-05T16:58:29.802Z,1749142709.802 [DAT](INFO): DAT read: Range 10 to 50 : 134.4 m  (Round-trip  179.2 ms) speed  0.0 m/s

2025-06-05T16:58:29.803Z,1749142709.803 [DAT](INFO): DAT read: user:2505>

2025-06-05T16:58:29.804Z,1749142709.804 [DAT](INFO): DAT read: Tx time:16:58:28.9097

2025-06-05T16:58:29.804Z,1749142709.804 [DAT](INFO): Ping request sent.
2025-06-05T16:58:29.804Z,1749142709.804 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:58:29.804Z,1749142709.804 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:58:29.805Z,1749142709.805 [DAT](INFO): direction in FSK: [-0.025343,0.967816,-0.250380]
2025-06-05T16:58:29.805Z,1749142709.805 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:29.806Z,1749142709.806 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:29.820Z,1749142709.820 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:29.820Z,1749142709.820 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:30.045Z,1749142710.045 [DAT](INFO): DAT read: TxSync time:16:58:28.9089

2025-06-05T16:58:30.086Z,1749142710.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 134.399994 m,
      deltaT: 3.780009 s,
      deltaX: 0.799988 m,
      approachRate: 0.211636 m/s,
      rangeRepo size: 4

2025-06-05T16:58:30.088Z,1749142710.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.298767 m,
      bearing: 139.597143 deg,
      lat: 36.906281 deg,
      lon: -122.115788 deg,
      deltaT: 3.780009 s,
      deltaX: 0.793106 m,
      approachRate: 0.209816 m/s,
      posRepo size: 4

2025-06-05T16:58:30.089Z,1749142710.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:30.092Z,1749142710.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.298767 m,
      nav range: 139.024734 m,
      bearing: 142.094758 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.309418 deg/s,
      cmd heading: 151.650717 deg,
      new cmd heading: 152.263528 deg.

2025-06-05T16:58:30.093Z,1749142710.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.657500 target range: 133.298767 and range: 134.40 m.
2025-06-05T16:58:30.443Z,1749142710.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:30.446Z,1749142710.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.298767 m,
      nav range: 139.018112 m,
      bearing: 142.194522 deg,
      approach rate: -0.018512 m/s,
      LOS rate: 0.278889 deg/s,
      cmd heading: 152.263522 deg,
      new cmd heading: 152.562823 deg.

2025-06-05T16:58:30.455Z,1749142710.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662724 target range: 133.298767 and range: 134.40 m.
2025-06-05T16:58:30.845Z,1749142710.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:30.848Z,1749142710.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.298767 m,
      nav range: 138.998810 m,
      bearing: 142.310611 deg,
      approach rate: -0.048081 m/s,
      LOS rate: 0.289212 deg/s,
      cmd heading: 152.562821 deg,
      new cmd heading: 152.911132 deg.

2025-06-05T16:58:30.851Z,1749142710.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668803 target range: 133.298767 and range: 134.40 m.
2025-06-05T16:58:31.231Z,1749142711.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:31.237Z,1749142711.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:31.244Z,1749142711.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.298767 m,
      nav range: 138.974579 m,
      bearing: 142.418932 deg,
      approach rate: -0.061843 m/s,
      LOS rate: 0.276507 deg/s,
      cmd heading: 152.911133 deg,
      new cmd heading: 153.236151 deg.

2025-06-05T16:58:31.245Z,1749142711.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674475 target range: 133.298767 and range: 134.40 m.
2025-06-05T16:58:31.308Z,1749142711.308 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:31.308Z,1749142711.308 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:31.309Z,1749142711.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:31.559Z,1749142711.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755122
2025-06-05T16:58:31.632Z,1749142711.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:31.640Z,1749142711.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.298767 m,
      nav range: 138.944733 m,
      bearing: 142.525449 deg,
      approach rate: -0.075612 m/s,
      LOS rate: 0.269907 deg/s,
      cmd heading: 153.236155 deg,
      new cmd heading: 153.555770 deg.

2025-06-05T16:58:31.641Z,1749142711.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680054 target range: 133.298767 and range: 134.40 m.
2025-06-05T16:58:31.811Z,1749142711.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007199
2025-06-05T16:58:32.039Z,1749142712.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:32.041Z,1749142712.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.298767 m,
      nav range: 138.914322 m,
      bearing: 142.647899 deg,
      approach rate: -0.074676 m/s,
      LOS rate: 0.300752 deg/s,
      cmd heading: 153.555767 deg,
      new cmd heading: 153.923192 deg.

2025-06-05T16:58:32.043Z,1749142712.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686466 target range: 133.298767 and range: 134.40 m.
2025-06-05T16:58:32.063Z,1749142712.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259044
2025-06-05T16:58:32.316Z,1749142712.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512477
2025-06-05T16:58:32.419Z,1749142712.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:32.422Z,1749142712.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.298767 m,
      nav range: 138.881088 m,
      bearing: 142.755737 deg,
      approach rate: -0.087331 m/s,
      LOS rate: 0.283443 deg/s,
      cmd heading: 153.923190 deg,
      new cmd heading: 154.246777 deg.

2025-06-05T16:58:32.423Z,1749142712.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.692114 target range: 133.298767 and range: 134.40 m.
2025-06-05T16:58:32.567Z,1749142712.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763453
2025-06-05T16:58:32.819Z,1749142712.819 [DAT](INFO): DAT read: Rx Time:16:58:31.4931

2025-06-05T16:58:32.820Z,1749142712.820 [DAT](INFO): Rx dataTimestamp_ set to:1749142712.819489
2025-06-05T16:58:32.820Z,1749142712.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016353
2025-06-05T16:58:32.888Z,1749142712.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:32.896Z,1749142712.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.298767 m,
      nav range: 138.830826 m,
      bearing: 142.888046 deg,
      approach rate: -0.107105 m/s,
      LOS rate: 0.282042 deg/s,
      cmd heading: 154.246777 deg,
      new cmd heading: 154.643842 deg.

2025-06-05T16:58:32.897Z,1749142712.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.699044 target range: 133.298767 and range: 134.40 m.
2025-06-05T16:58:33.071Z,1749142713.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267146
2025-06-05T16:58:33.293Z,1749142713.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:33.315Z,1749142713.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:33.329Z,1749142713.329 [DAT](INFO): DAT read: 16:58:31.4931 LVL= 20400, 32753, 29682, 32755, AGC= 64, IDX= 440, 0.38,-3.094, 2.428, 1.206, 2.057, PHS= 1.220, 0.418,-0.854, RAW=  52.5,  -8.7, CAL=  59.3, -15.3, ROT=  90.7,  15.3

2025-06-05T16:58:33.330Z,1749142713.330 [DAT](INFO): got valid direction response:
 16:58:31.4931 LVL= 20400, 32753, 29682, 32755, AGC= 64, IDX= 440, 0.38,-3.094, 2.428, 1.206, 2.057, PHS= 1.220, 0.418,-0.854, RAW=  52.5,  -8.7, CAL=  59.3, -15.3, ROT=  90.7,  15.3

2025-06-05T16:58:33.331Z,1749142713.331 [DAT](INFO): DAT read: Bearing  90.7,  15.3 (Local)

2025-06-05T16:58:33.332Z,1749142713.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.7,  15.3 (Local)

2025-06-05T16:58:33.334Z,1749142713.334 [DAT](INFO): DAT read: Range 10 to 50 : 134.4 m  (Round-trip  179.2 ms) speed -0.2 m/s

2025-06-05T16:58:33.335Z,1749142713.335 [DAT](INFO): DAT read: user:2506>

2025-06-05T16:58:33.335Z,1749142713.335 [DAT](INFO): DAT read: Tx time:16:58:32.6097

2025-06-05T16:58:33.336Z,1749142713.336 [DAT](INFO): Ping request sent.
2025-06-05T16:58:33.336Z,1749142713.336 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:58:33.336Z,1749142713.336 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:58:33.337Z,1749142713.337 [DAT](INFO): direction in FSK: [-0.011784,0.964485,-0.263873]
2025-06-05T16:58:33.337Z,1749142713.337 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:33.339Z,1749142713.339 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:33.342Z,1749142713.342 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:33.342Z,1749142713.342 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:33.348Z,1749142713.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.298767 m,
      nav range: 138.783264 m,
      bearing: 142.995515 deg,
      approach rate: -0.113003 m/s,
      LOS rate: 0.255425 deg/s,
      cmd heading: 154.643843 deg,
      new cmd heading: 154.966357 deg.

2025-06-05T16:58:33.350Z,1749142713.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.704673 target range: 133.298767 and range: 134.40 m.
2025-06-05T16:58:33.578Z,1749142713.578 [DAT](INFO): DAT read: TxSync time:16:58:32.6089

2025-06-05T16:58:33.705Z,1749142713.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 134.399994 m,
      deltaT: 3.532166 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-05T16:58:33.711Z,1749142713.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.297318 m,
      bearing: 153.825380 deg,
      lat: 36.906203 deg,
      lon: -122.116062 deg,
      deltaT: 3.532166 s,
      deltaX: -0.001450 m,
      approachRate: -0.000410 m/s,
      posRepo size: 4

2025-06-05T16:58:33.712Z,1749142713.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:33.719Z,1749142713.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.297318 m,
      nav range: 133.363007 m,
      bearing: 153.765054 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.255425 deg/s,
      cmd heading: 154.966351 deg,
      new cmd heading: 155.269008 deg.

2025-06-05T16:58:33.720Z,1749142713.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.709955 target range: 133.297318 and range: 134.40 m.
2025-06-05T16:58:34.092Z,1749142714.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:34.111Z,1749142714.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.297318 m,
      nav range: 133.363754 m,
      bearing: 153.888073 deg,
      approach rate: 0.001929 m/s,
      LOS rate: 0.317465 deg/s,
      cmd heading: 155.269010 deg,
      new cmd heading: 155.638060 deg.

2025-06-05T16:58:34.112Z,1749142714.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.716397 target range: 133.297318 and range: 134.40 m.
2025-06-05T16:58:34.444Z,1749142714.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:34.447Z,1749142714.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.297318 m,
      nav range: 133.350266 m,
      bearing: 153.995397 deg,
      approach rate: -0.038251 m/s,
      LOS rate: 0.304379 deg/s,
      cmd heading: 155.638059 deg,
      new cmd heading: 155.960060 deg.

2025-06-05T16:58:34.449Z,1749142714.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.722017 target range: 133.297318 and range: 134.40 m.
2025-06-05T16:58:34.876Z,1749142714.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:34.900Z,1749142714.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.297318 m,
      nav range: 133.328949 m,
      bearing: 154.132554 deg,
      approach rate: -0.049401 m/s,
      LOS rate: 0.317913 deg/s,
      cmd heading: 155.960061 deg,
      new cmd heading: 156.371590 deg.

2025-06-05T16:58:34.907Z,1749142714.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.729199 target range: 133.297318 and range: 134.40 m.
2025-06-05T16:58:35.265Z,1749142715.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:35.272Z,1749142715.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.297318 m,
      nav range: 133.302994 m,
      bearing: 154.254331 deg,
      approach rate: -0.066737 m/s,
      LOS rate: 0.313179 deg/s,
      cmd heading: 156.371594 deg,
      new cmd heading: 156.736991 deg.

2025-06-05T16:58:35.273Z,1749142715.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.735577 target range: 133.297318 and range: 134.40 m.
2025-06-05T16:58:35.657Z,1749142715.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:35.659Z,1749142715.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:35.662Z,1749142715.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.297318 m,
      nav range: 133.269135 m,
      bearing: 154.380320 deg,
      approach rate: -0.085830 m/s,
      LOS rate: 0.319448 deg/s,
      cmd heading: 156.736995 deg,
      new cmd heading: 157.115051 deg.

2025-06-05T16:58:35.663Z,1749142715.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.742175 target range: 133.297318 and range: 134.40 m.
2025-06-05T16:58:35.849Z,1749142715.849 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:35.849Z,1749142715.849 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:35.850Z,1749142715.850 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:36.100Z,1749142716.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764191
2025-06-05T16:58:36.129Z,1749142716.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:36.135Z,1749142716.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.297318 m,
      nav range: 133.226593 m,
      bearing: 154.533288 deg,
      approach rate: -0.090458 m/s,
      LOS rate: 0.325366 deg/s,
      cmd heading: 157.115046 deg,
      new cmd heading: 157.574086 deg.

2025-06-05T16:58:36.136Z,1749142716.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.750187 target range: 133.297318 and range: 134.40 m.
2025-06-05T16:58:36.351Z,1749142716.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015463
2025-06-05T16:58:36.468Z,1749142716.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:36.471Z,1749142716.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.297318 m,
      nav range: 133.189957 m,
      bearing: 154.642277 deg,
      approach rate: -0.108336 m/s,
      LOS rate: 0.322379 deg/s,
      cmd heading: 157.574090 deg,
      new cmd heading: 157.901146 deg.

2025-06-05T16:58:36.472Z,1749142716.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.755895 target range: 133.297318 and range: 134.40 m.
2025-06-05T16:58:36.603Z,1749142716.603 [DAT](INFO): DAT read: Rx Time:16:58:35.1924

2025-06-05T16:58:36.604Z,1749142716.604 [DAT](INFO): Rx dataTimestamp_ set to:1749142716.603363
2025-06-05T16:58:36.604Z,1749142716.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268503
2025-06-05T16:58:36.855Z,1749142716.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519378
2025-06-05T16:58:36.924Z,1749142716.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m.
2025-06-05T16:58:36.927Z,1749142716.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.297318 m,
      nav range: 133.136719 m,
      bearing: 154.793315 deg,
      approach rate: -0.116619 m/s,
      LOS rate: 0.330983 deg/s,
      cmd heading: 157.901147 deg,
      new cmd heading: 158.354430 deg.

2025-06-05T16:58:36.928Z,1749142716.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.763806 target range: 133.297318 and range: 134.40 m.
2025-06-05T16:58:37.113Z,1749142717.113 [DAT](INFO): DAT read: 16:58:35.1924 LVL= 18464, 28801, 22354, 25203, AGC= 62, IDX= 417,-0.35,-0.248,-1.762,-2.499,-1.862, PHS= 1.702, 0.147,-0.640, RAW=  70.7, -11.7, CAL=  82.4, -20.7, ROT=  67.6,  20.7

2025-06-05T16:58:37.114Z,1749142717.114 [DAT](INFO): got valid direction response:
 16:58:35.1924 LVL= 18464, 28801, 22354, 25203, AGC= 62, IDX= 417,-0.35,-0.248,-1.762,-2.499,-1.862, PHS= 1.702, 0.147,-0.640, RAW=  70.7, -11.7, CAL=  82.4, -20.7, ROT=  67.6,  20.7

2025-06-05T16:58:37.116Z,1749142717.116 [DAT](INFO): DAT read: Bearing  67.6,  20.7 (Local)

2025-06-05T16:58:37.117Z,1749142717.117 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.6,  20.7 (Local)

2025-06-05T16:58:37.118Z,1749142717.118 [DAT](INFO): DAT read: Range 10 to 50 : 133.9 m  (Round-trip  178.6 ms) speed  0.0 m/s

2025-06-05T16:58:37.119Z,1749142717.119 [DAT](INFO): DAT read: user:2507>

2025-06-05T16:58:37.120Z,1749142717.120 [DAT](INFO): DAT read: Tx time:16:58:36.3097

2025-06-05T16:58:37.120Z,1749142717.120 [DAT](INFO): Ping request sent.
2025-06-05T16:58:37.120Z,1749142717.120 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:58:37.120Z,1749142717.120 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:58:37.121Z,1749142717.121 [DAT](INFO): direction in FSK: [0.356470,0.864861,-0.353475]
2025-06-05T16:58:37.121Z,1749142717.121 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:37.122Z,1749142717.122 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:37.125Z,1749142717.125 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:37.125Z,1749142717.125 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:37.361Z,1749142717.361 [DAT](INFO): DAT read: TxSync time:16:58:36.3089

2025-06-05T16:58:37.460Z,1749142717.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 133.899994 m,
      deltaT: 3.784086 s,
      deltaX: -0.500000 m,
      approachRate: -0.132132 m/s,
      rangeRepo size: 4

2025-06-05T16:58:37.463Z,1749142717.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 132.798767 m,
      bearing: 144.596138 deg,
      lat: 36.906319 deg,
      lon: -122.115834 deg,
      deltaT: 3.784086 s,
      deltaX: -0.498550 m,
      approachRate: -0.131749 m/s,
      posRepo size: 4

2025-06-05T16:58:37.463Z,1749142717.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.80 m.
2025-06-05T16:58:37.468Z,1749142717.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.798767 m,
      nav range: 132.136475 m,
      bearing: 144.595708 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.330983 deg/s,
      cmd heading: 158.354425 deg,
      new cmd heading: 158.885976 deg.

2025-06-05T16:58:37.469Z,1749142717.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.773083 target range: 132.798767 and range: 133.90 m.
2025-06-05T16:58:37.779Z,1749142717.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:37.783Z,1749142717.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.80 m.
2025-06-05T16:58:37.786Z,1749142717.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.798767 m,
      nav range: 132.041702 m,
      bearing: 144.698185 deg,
      approach rate: -0.293777 m/s,
      LOS rate: 0.317885 deg/s,
      cmd heading: 158.885978 deg,
      new cmd heading: 159.193624 deg.

2025-06-05T16:58:37.807Z,1749142717.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.778453 target range: 132.798767 and range: 133.90 m.
2025-06-05T16:58:37.868Z,1749142717.868 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:37.868Z,1749142717.868 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:37.869Z,1749142717.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:38.117Z,1749142718.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996504
2025-06-05T16:58:38.222Z,1749142718.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.80 m.
2025-06-05T16:58:38.225Z,1749142718.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.798767 m,
      nav range: 131.897964 m,
      bearing: 144.833917 deg,
      approach rate: -0.326838 m/s,
      LOS rate: 0.308970 deg/s,
      cmd heading: 159.193623 deg,
      new cmd heading: 159.601256 deg.

2025-06-05T16:58:38.226Z,1749142718.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.785568 target range: 132.798767 and range: 133.90 m.
2025-06-05T16:58:38.369Z,1749142718.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248908
2025-06-05T16:58:38.619Z,1749142718.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499381
2025-06-05T16:58:38.624Z,1749142718.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.80 m.
2025-06-05T16:58:38.627Z,1749142718.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.798767 m,
      nav range: 131.761276 m,
      bearing: 144.955126 deg,
      approach rate: -0.340051 m/s,
      LOS rate: 0.301854 deg/s,
      cmd heading: 159.601263 deg,
      new cmd heading: 159.965261 deg.

2025-06-05T16:58:38.628Z,1749142718.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.791920 target range: 132.798767 and range: 133.90 m.
2025-06-05T16:58:38.874Z,1749142718.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753255
2025-06-05T16:58:39.032Z,1749142719.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.80 m.
2025-06-05T16:58:39.035Z,1749142719.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.798767 m,
      nav range: 131.632141 m,
      bearing: 145.079696 deg,
      approach rate: -0.316978 m/s,
      LOS rate: 0.306072 deg/s,
      cmd heading: 159.965257 deg,
      new cmd heading: 160.339328 deg.

2025-06-05T16:58:39.036Z,1749142719.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.798449 target range: 132.798767 and range: 133.90 m.
2025-06-05T16:58:39.123Z,1749142719.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003210
2025-06-05T16:58:39.376Z,1749142719.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256285
2025-06-05T16:58:39.443Z,1749142719.443 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:58:39.445Z,1749142719.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.80 m.
2025-06-05T16:58:39.452Z,1749142719.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.798767 m,
      nav range: 131.499496 m,
      bearing: 145.192321 deg,
      approach rate: -0.320756 m/s,
      LOS rate: 0.272620 deg/s,
      cmd heading: 160.339333 deg,
      new cmd heading: 160.677544 deg.

2025-06-05T16:58:39.453Z,1749142719.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804352 target range: 132.798767 and range: 133.90 m.
2025-06-05T16:58:39.627Z,1749142719.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507019
2025-06-05T16:58:39.805Z,1749142719.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:39.807Z,1749142719.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.80 m.
2025-06-05T16:58:39.810Z,1749142719.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.798767 m,
      nav range: 131.354111 m,
      bearing: 145.308526 deg,
      approach rate: -0.401107 m/s,
      LOS rate: 0.320955 deg/s,
      cmd heading: 160.677550 deg,
      new cmd heading: 161.026547 deg.

2025-06-05T16:58:39.811Z,1749142719.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810443 target range: 132.798767 and range: 133.90 m.
2025-06-05T16:58:39.884Z,1749142719.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762978
2025-06-05T16:58:40.132Z,1749142720.132 [DAT](INFO): DAT read: Rx Time:16:58:38.8915

2025-06-05T16:58:40.133Z,1749142720.133 [DAT](INFO): Rx dataTimestamp_ set to:1749142720.131982
2025-06-05T16:58:40.134Z,1749142720.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013484
2025-06-05T16:58:40.245Z,1749142720.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.80 m.
2025-06-05T16:58:40.248Z,1749142720.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.798767 m,
      nav range: 131.190521 m,
      bearing: 145.433531 deg,
      approach rate: -0.373373 m/s,
      LOS rate: 0.285666 deg/s,
      cmd heading: 161.026545 deg,
      new cmd heading: 161.402024 deg.

2025-06-05T16:58:40.249Z,1749142720.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816997 target range: 132.798767 and range: 133.90 m.
2025-06-05T16:58:40.386Z,1749142720.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264933
2025-06-05T16:58:40.448Z,1749142720.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:58:40.609Z,1749142720.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.80 m.
2025-06-05T16:58:40.617Z,1749142720.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.798767 m,
      nav range: 131.049377 m,
      bearing: 145.535444 deg,
      approach rate: -0.388342 m/s,
      LOS rate: 0.280703 deg/s,
      cmd heading: 161.402028 deg,
      new cmd heading: 161.708092 deg.

2025-06-05T16:58:40.618Z,1749142720.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.822339 target range: 132.798767 and range: 133.90 m.
2025-06-05T16:58:40.635Z,1749142720.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514911
2025-06-05T16:58:40.910Z,1749142720.910 [DAT](INFO): DAT read: 16:58:38.8915 LVL= 21440, 32753, 26866, 32755, AGC= 59, IDX= 439,-0.47,-1.819, 2.857, 2.839,-2.843, PHS= 1.111,-0.536,-0.604, RAW=  88.0,   0.3, CAL=  95.2,  -3.8, ROT=  54.8,   3.8

2025-06-05T16:58:40.923Z,1749142720.923 [DAT](INFO): got valid direction response:
 16:58:38.8915 LVL= 21440, 32753, 26866, 32755, AGC= 59, IDX= 439,-0.47,-1.819, 2.857, 2.839,-2.843, PHS= 1.111,-0.536,-0.604, RAW=  88.0,   0.3, CAL=  95.2,  -3.8, ROT=  54.8,   3.8

2025-06-05T16:58:40.924Z,1749142720.924 [DAT](INFO): DAT read: Bearing  54.8,   3.8 (Local)

2025-06-05T16:58:40.925Z,1749142720.925 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.8,   3.8 (Local)

2025-06-05T16:58:40.945Z,1749142720.945 [DAT](INFO): DAT read: Range 10 to 50 : 133.1 m  (Round-trip  177.5 ms) speed  0.3 m/s

2025-06-05T16:58:40.946Z,1749142720.946 [DAT](INFO): DAT read: user:2508>

2025-06-05T16:58:40.951Z,1749142720.951 [DAT](INFO): DAT read: Tx time:16:58:40.0098

2025-06-05T16:58:40.951Z,1749142720.951 [DAT](INFO): Ping request sent.
2025-06-05T16:58:40.951Z,1749142720.951 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:58:40.952Z,1749142720.952 [DAT](INFO): DAT read: TxSync time:16:58:40.0090

2025-06-05T16:58:40.952Z,1749142720.952 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:58:40.953Z,1749142720.953 [DAT](INFO): direction in FSK: [0.575165,0.815348,-0.066274]
2025-06-05T16:58:40.953Z,1749142720.954 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:40.954Z,1749142720.954 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:40.966Z,1749142720.966 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:40.986Z,1749142720.986 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:41.136Z,1749142721.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 133.100006 m,
      deltaT: 3.781499 s,
      deltaX: -0.799988 m,
      approachRate: -0.211553 m/s,
      rangeRepo size: 4

2025-06-05T16:58:41.142Z,1749142721.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 132.007324 m,
      bearing: 147.682358 deg,
      lat: 36.906319 deg,
      lon: -122.115834 deg,
      deltaT: 3.781499 s,
      deltaX: -0.791443 m,
      approachRate: -0.209293 m/s,
      posRepo size: 4

2025-06-05T16:58:41.143Z,1749142721.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.01 m.
2025-06-05T16:58:41.145Z,1749142721.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.007324 m,
      nav range: 130.857895 m,
      bearing: 145.668511 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.280703 deg/s,
      cmd heading: 161.708089 deg,
      new cmd heading: 162.151262 deg.

2025-06-05T16:58:41.151Z,1749142721.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.830073 target range: 132.007324 and range: 133.10 m.
2025-06-05T16:58:41.474Z,1749142721.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.01 m.
2025-06-05T16:58:41.477Z,1749142721.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.007324 m,
      nav range: 130.712662 m,
      bearing: 145.763318 deg,
      approach rate: -0.428769 m/s,
      LOS rate: 0.280208 deg/s,
      cmd heading: 162.151259 deg,
      new cmd heading: 162.435994 deg.

2025-06-05T16:58:41.478Z,1749142721.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835043 target range: 132.007324 and range: 133.10 m.
2025-06-05T16:58:41.863Z,1749142721.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:41.866Z,1749142721.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.01 m.
2025-06-05T16:58:41.875Z,1749142721.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.007324 m,
      nav range: 130.540726 m,
      bearing: 145.869553 deg,
      approach rate: -0.439348 m/s,
      LOS rate: 0.271819 deg/s,
      cmd heading: 162.435996 deg,
      new cmd heading: 162.755117 deg.

2025-06-05T16:58:41.879Z,1749142721.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840613 target range: 132.007324 and range: 133.10 m.
2025-06-05T16:58:41.897Z,1749142721.897 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:41.898Z,1749142721.898 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:41.899Z,1749142721.899 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:42.147Z,1749142722.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.195806
2025-06-05T16:58:42.284Z,1749142722.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.01 m.
2025-06-05T16:58:42.310Z,1749142722.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.007324 m,
      nav range: 130.364639 m,
      bearing: 145.970804 deg,
      approach rate: -0.419979 m/s,
      LOS rate: 0.241817 deg/s,
      cmd heading: 162.755116 deg,
      new cmd heading: 163.059276 deg.

2025-06-05T16:58:42.311Z,1749142722.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.845921 target range: 132.007324 and range: 133.10 m.
2025-06-05T16:58:42.403Z,1749142722.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.451560
2025-06-05T16:58:42.655Z,1749142722.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703937
2025-06-05T16:58:42.705Z,1749142722.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.01 m.
2025-06-05T16:58:42.712Z,1749142722.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.007324 m,
      nav range: 130.186768 m,
      bearing: 146.068183 deg,
      approach rate: -0.423090 m/s,
      LOS rate: 0.231944 deg/s,
      cmd heading: 163.059278 deg,
      new cmd heading: 163.351811 deg.

2025-06-05T16:58:42.713Z,1749142722.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851027 target range: 132.007324 and range: 133.10 m.
2025-06-05T16:58:42.910Z,1749142722.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958450
2025-06-05T16:58:43.128Z,1749142723.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.01 m.
2025-06-05T16:58:43.136Z,1749142723.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.007324 m,
      nav range: 130.011505 m,
      bearing: 146.165377 deg,
      approach rate: -0.413853 m/s,
      LOS rate: 0.229818 deg/s,
      cmd heading: 163.351815 deg,
      new cmd heading: 163.643789 deg.

2025-06-05T16:58:43.137Z,1749142723.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856123 target range: 132.007324 and range: 133.10 m.
2025-06-05T16:58:43.159Z,1749142723.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207871
2025-06-05T16:58:43.413Z,1749142723.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461366
2025-06-05T16:58:43.508Z,1749142723.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.01 m.
2025-06-05T16:58:43.511Z,1749142723.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.007324 m,
      nav range: 129.840958 m,
      bearing: 146.260406 deg,
      approach rate: -0.449653 m/s,
      LOS rate: 0.250876 deg/s,
      cmd heading: 163.643792 deg,
      new cmd heading: 163.929252 deg.

2025-06-05T16:58:43.512Z,1749142723.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.861105 target range: 132.007324 and range: 133.10 m.
2025-06-05T16:58:43.663Z,1749142723.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711833
2025-06-05T16:58:43.876Z,1749142723.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:43.878Z,1749142723.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.01 m.
2025-06-05T16:58:43.897Z,1749142723.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.007324 m,
      nav range: 129.667648 m,
      bearing: 146.342937 deg,
      approach rate: -0.468144 m/s,
      LOS rate: 0.223229 deg/s,
      cmd heading: 163.929253 deg,
      new cmd heading: 164.177173 deg.

2025-06-05T16:58:43.903Z,1749142723.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865432 target range: 132.007324 and range: 133.10 m.
2025-06-05T16:58:43.919Z,1749142723.919 [DAT](INFO): DAT read: Rx Time:16:58:42.5897

2025-06-05T16:58:43.921Z,1749142723.921 [DAT](INFO): Rx dataTimestamp_ set to:1749142723.919871
2025-06-05T16:58:43.925Z,1749142723.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973188
2025-06-05T16:58:44.167Z,1749142724.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216059
2025-06-05T16:58:44.306Z,1749142724.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.01 m.
2025-06-05T16:58:44.309Z,1749142724.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.007324 m,
      nav range: 129.468811 m,
      bearing: 146.432244 deg,
      approach rate: -0.464687 m/s,
      LOS rate: 0.209035 deg/s,
      cmd heading: 164.177175 deg,
      new cmd heading: 164.445508 deg.

2025-06-05T16:58:44.310Z,1749142724.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870116 target range: 132.007324 and range: 133.10 m.
2025-06-05T16:58:44.429Z,1749142724.429 [DAT](INFO): DAT read: 16:58:42.5897 LVL= 21232, 32753, 32114, 32755, AGC= 66, IDX= 421,-0.13, 0.891,-0.804,-0.337, 0.079, PHS= 0.900,-0.836,-0.419, RAW= 103.3,   4.6, CAL= 113.8,   2.4, ROT=  36.2,  -2.4

2025-06-05T16:58:44.437Z,1749142724.437 [DAT](INFO): got valid direction response:
 16:58:42.5897 LVL= 21232, 32753, 32114, 32755, AGC= 66, IDX= 421,-0.13, 0.891,-0.804,-0.337, 0.079, PHS= 0.900,-0.836,-0.419, RAW= 103.3,   4.6, CAL= 113.8,   2.4, ROT=  36.2,  -2.4

2025-06-05T16:58:44.438Z,1749142724.438 [DAT](INFO): DAT read: Bearing  36.2,  -2.4 (Local)

2025-06-05T16:58:44.438Z,1749142724.438 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.2,  -2.4 (Local)

2025-06-05T16:58:44.439Z,1749142724.439 [DAT](INFO): DAT read: Range 10 to 50 : 131.7 m  (Round-trip  175.7 ms) speed  0.4 m/s

2025-06-05T16:58:44.440Z,1749142724.440 [DAT](INFO): DAT read: user:2509>

2025-06-05T16:58:44.441Z,1749142724.441 [DAT](INFO): DAT read: Tx time:16:58:43.7098

2025-06-05T16:58:44.441Z,1749142724.441 [DAT](INFO): Ping request sent.
2025-06-05T16:58:44.441Z,1749142724.441 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:58:44.442Z,1749142724.442 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:58:44.465Z,1749142724.465 [DAT](INFO): direction in FSK: [0.806252,0.590088,0.041876]
2025-06-05T16:58:44.466Z,1749142724.466 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:44.483Z,1749142724.483 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:44.486Z,1749142724.486 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:44.490Z,1749142724.490 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:44.671Z,1749142724.671 [DAT](INFO): DAT read: TxSync time:16:58:43.7090

2025-06-05T16:58:44.728Z,1749142724.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 131.699997 m,
      deltaT: 3.531748 s,
      deltaX: -1.400009 m,
      approachRate: -0.396407 m/s,
      rangeRepo size: 4

2025-06-05T16:58:44.734Z,1749142724.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 130.619568 m,
      bearing: 142.119033 deg,
      lat: 36.906319 deg,
      lon: -122.115834 deg,
      deltaT: 3.531748 s,
      deltaX: -1.387756 m,
      approachRate: -0.392938 m/s,
      posRepo size: 4

2025-06-05T16:58:44.738Z,1749142724.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.62 m.
2025-06-05T16:58:44.741Z,1749142724.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.619568 m,
      nav range: 129.276123 m,
      bearing: 146.514548 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.209035 deg/s,
      cmd heading: 164.445506 deg,
      new cmd heading: 164.709842 deg.

2025-06-05T16:58:44.743Z,1749142724.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874729 target range: 130.619568 and range: 131.70 m.
2025-06-05T16:58:45.132Z,1749142725.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.62 m.
2025-06-05T16:58:45.152Z,1749142725.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.619568 m,
      nav range: 129.063889 m,
      bearing: 146.600185 deg,
      approach rate: -0.525388 m/s,
      LOS rate: 0.212344 deg/s,
      cmd heading: 164.709848 deg,
      new cmd heading: 164.967180 deg.

2025-06-05T16:58:45.153Z,1749142725.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.879220 target range: 130.619568 and range: 131.70 m.
2025-06-05T16:58:45.534Z,1749142725.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.62 m.
2025-06-05T16:58:45.537Z,1749142725.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.619568 m,
      nav range: 128.862549 m,
      bearing: 146.676852 deg,
      approach rate: -0.499570 m/s,
      LOS rate: 0.190526 deg/s,
      cmd heading: 164.967182 deg,
      new cmd heading: 165.197542 deg.

2025-06-05T16:58:45.538Z,1749142725.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.883241 target range: 130.619568 and range: 131.70 m.
2025-06-05T16:58:45.899Z,1749142725.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:45.901Z,1749142725.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.62 m.
2025-06-05T16:58:45.905Z,1749142725.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.619568 m,
      nav range: 128.655640 m,
      bearing: 146.751549 deg,
      approach rate: -0.563319 m/s,
      LOS rate: 0.203691 deg/s,
      cmd heading: 165.197537 deg,
      new cmd heading: 165.421986 deg.

2025-06-05T16:58:45.906Z,1749142725.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.887158 target range: 130.619568 and range: 131.70 m.
2025-06-05T16:58:45.937Z,1749142725.937 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:45.937Z,1749142725.937 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:45.939Z,1749142725.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:46.188Z,1749142726.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746145
2025-06-05T16:58:46.343Z,1749142726.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.62 m.
2025-06-05T16:58:46.350Z,1749142726.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.619568 m,
      nav range: 128.417191 m,
      bearing: 146.833527 deg,
      approach rate: -0.539616 m/s,
      LOS rate: 0.185863 deg/s,
      cmd heading: 165.421991 deg,
      new cmd heading: 165.668381 deg.

2025-06-05T16:58:46.351Z,1749142726.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.891459 target range: 130.619568 and range: 131.70 m.
2025-06-05T16:58:46.441Z,1749142726.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999740
2025-06-05T16:58:46.691Z,1749142726.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249622
2025-06-05T16:58:46.736Z,1749142726.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.62 m.
2025-06-05T16:58:46.743Z,1749142726.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.619568 m,
      nav range: 128.193405 m,
      bearing: 146.906588 deg,
      approach rate: -0.570596 m/s,
      LOS rate: 0.186613 deg/s,
      cmd heading: 165.668383 deg,
      new cmd heading: 165.887948 deg.

2025-06-05T16:58:46.747Z,1749142726.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.895291 target range: 130.619568 and range: 131.70 m.
2025-06-05T16:58:46.946Z,1749142726.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504405
2025-06-05T16:58:47.159Z,1749142727.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.62 m.
2025-06-05T16:58:47.162Z,1749142727.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.619568 m,
      nav range: 127.952888 m,
      bearing: 146.986025 deg,
      approach rate: -0.568051 m/s,
      LOS rate: 0.187966 deg/s,
      cmd heading: 165.887946 deg,
      new cmd heading: 166.126703 deg.

2025-06-05T16:58:47.168Z,1749142727.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.899458 target range: 130.619568 and range: 131.70 m.
2025-06-05T16:58:47.195Z,1749142727.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753966
2025-06-05T16:58:47.447Z,1749142727.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005831
2025-06-05T16:58:47.561Z,1749142727.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.62 m.
2025-06-05T16:58:47.568Z,1749142727.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.619568 m,
      nav range: 127.718803 m,
      bearing: 147.059195 deg,
      approach rate: -0.582584 m/s,
      LOS rate: 0.182437 deg/s,
      cmd heading: 166.126702 deg,
      new cmd heading: 166.346613 deg.

2025-06-05T16:58:47.572Z,1749142727.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.903296 target range: 130.619568 and range: 131.70 m.
2025-06-05T16:58:47.700Z,1749142727.700 [DAT](INFO): DAT read: Rx Time:16:58:46.2874

2025-06-05T16:58:47.701Z,1749142727.701 [DAT](INFO): Rx dataTimestamp_ set to:1749142727.700631
2025-06-05T16:58:47.702Z,1749142727.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260551
2025-06-05T16:58:47.930Z,1749142727.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:47.934Z,1749142727.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.62 m.
2025-06-05T16:58:47.937Z,1749142727.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.619568 m,
      nav range: 127.487381 m,
      bearing: 147.127569 deg,
      approach rate: -0.619880 m/s,
      LOS rate: 0.183478 deg/s,
      cmd heading: 166.346607 deg,
      new cmd heading: 166.552102 deg.

2025-06-05T16:58:47.938Z,1749142727.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.906883 target range: 130.619568 and range: 131.70 m.
2025-06-05T16:58:47.952Z,1749142727.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510232
2025-06-05T16:58:48.209Z,1749142728.209 [DAT](INFO): DAT read: 16:58:46.2874 LVL= 25328, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.08, 1.136,-0.342, 0.351, 0.584, PHS= 0.640,-0.879,-0.237, RAW= 114.9,   7.3, CAL= 124.5,   3.9, ROT=  25.5,  -3.9

2025-06-05T16:58:48.210Z,1749142728.210 [DAT](INFO): got valid direction response:
 16:58:46.2874 LVL= 25328, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.08, 1.136,-0.342, 0.351, 0.584, PHS= 0.640,-0.879,-0.237, RAW= 114.9,   7.3, CAL= 124.5,   3.9, ROT=  25.5,  -3.9

2025-06-05T16:58:48.211Z,1749142728.211 [DAT](INFO): DAT read: Bearing  25.5,  -3.9 (Local)

2025-06-05T16:58:48.211Z,1749142728.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.5,  -3.9 (Local)

2025-06-05T16:58:48.213Z,1749142728.213 [DAT](INFO): DAT read: Range 10 to 50 : 130.0 m  (Round-trip  173.4 ms) speed  0.0 m/s

2025-06-05T16:58:48.213Z,1749142728.213 [DAT](INFO): DAT read: user:2510>

2025-06-05T16:58:48.215Z,1749142728.215 [DAT](INFO): DAT read: Tx time:16:58:47.4098

2025-06-05T16:58:48.216Z,1749142728.216 [DAT](INFO): Ping request sent.
2025-06-05T16:58:48.216Z,1749142728.216 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:58:48.217Z,1749142728.217 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:58:48.217Z,1749142728.217 [DAT](INFO): direction in FSK: [0.900495,0.429514,0.068015]
2025-06-05T16:58:48.218Z,1749142728.218 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:48.218Z,1749142728.218 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:48.221Z,1749142728.221 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:48.221Z,1749142728.221 [DAT](INFO): publishing direction and range info
2025-06-05T16:58:48.441Z,1749142728.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.000000 m,
      deltaT: 3.782563 s,
      deltaX: -1.699997 m,
      approachRate: -0.449430 m/s,
      rangeRepo size: 4

2025-06-05T16:58:48.445Z,1749142728.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 128.931931 m,
      bearing: 144.122180 deg,
      lat: 36.906319 deg,
      lon: -122.115834 deg,
      deltaT: 3.782563 s,
      deltaX: -1.687637 m,
      approachRate: -0.446162 m/s,
      posRepo size: 4

2025-06-05T16:58:48.451Z,1749142728.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:48.456Z,1749142728.456 [DAT](INFO): DAT read: TxSync time:16:58:47.4090

2025-06-05T16:58:48.466Z,1749142728.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 127.205307 m,
      bearing: 147.214369 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.183478 deg/s,
      cmd heading: 166.552100 deg,
      new cmd heading: 166.825210 deg.

2025-06-05T16:58:48.468Z,1749142728.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.911649 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:48.793Z,1749142728.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:48.810Z,1749142728.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 126.971230 m,
      bearing: 147.278102 deg,
      approach rate: -0.645825 m/s,
      LOS rate: 0.176166 deg/s,
      cmd heading: 166.825212 deg,
      new cmd heading: 167.016764 deg.

2025-06-05T16:58:48.811Z,1749142728.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.914992 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:49.190Z,1749142729.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:49.193Z,1749142729.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 126.726097 m,
      bearing: 147.346874 deg,
      approach rate: -0.617681 m/s,
      LOS rate: 0.173626 deg/s,
      cmd heading: 167.016758 deg,
      new cmd heading: 167.223472 deg.

2025-06-05T16:58:49.194Z,1749142729.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.918600 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:49.605Z,1749142729.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:49.628Z,1749142729.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 126.473770 m,
      bearing: 147.413653 deg,
      approach rate: -0.607816 m/s,
      LOS rate: 0.161181 deg/s,
      cmd heading: 167.223467 deg,
      new cmd heading: 167.424202 deg.

2025-06-05T16:58:49.629Z,1749142729.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.922104 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:50.061Z,1749142730.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:50.075Z,1749142730.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:50.078Z,1749142730.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 126.236382 m,
      bearing: 147.472979 deg,
      approach rate: -0.504708 m/s,
      LOS rate: 0.126370 deg/s,
      cmd heading: 167.424206 deg,
      new cmd heading: 167.602520 deg.

2025-06-05T16:58:50.083Z,1749142730.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.925216 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:50.219Z,1749142730.219 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:50.219Z,1749142730.219 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:50.219Z,1749142730.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:50.432Z,1749142730.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:50.439Z,1749142730.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 125.956490 m,
      bearing: 147.542853 deg,
      approach rate: -0.783414 m/s,
      LOS rate: 0.196012 deg/s,
      cmd heading: 167.602515 deg,
      new cmd heading: 167.812603 deg.

2025-06-05T16:58:50.440Z,1749142730.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.928882 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:50.472Z,1749142730.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255809
2025-06-05T16:58:50.723Z,1749142730.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507307
2025-06-05T16:58:50.880Z,1749142730.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:50.884Z,1749142730.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 125.670380 m,
      bearing: 147.610082 deg,
      approach rate: -0.638611 m/s,
      LOS rate: 0.150399 deg/s,
      cmd heading: 167.812598 deg,
      new cmd heading: 168.014742 deg.

2025-06-05T16:58:50.885Z,1749142730.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.932410 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:50.977Z,1749142730.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760720
2025-06-05T16:58:51.227Z,1749142731.227 [DAT](INFO): DAT read: Rx Time:16:58:49.9846

2025-06-05T16:58:51.228Z,1749142731.228 [DAT](INFO): Rx dataTimestamp_ set to:1749142731.227324
2025-06-05T16:58:51.228Z,1749142731.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012277
2025-06-05T16:58:51.301Z,1749142731.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:51.308Z,1749142731.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 125.406181 m,
      bearing: 147.670563 deg,
      approach rate: -0.627609 m/s,
      LOS rate: 0.143976 deg/s,
      cmd heading: 168.014744 deg,
      new cmd heading: 168.196568 deg.

2025-06-05T16:58:51.309Z,1749142731.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.935584 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:51.479Z,1749142731.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263317
2025-06-05T16:58:51.656Z,1749142731.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:51.659Z,1749142731.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 125.175797 m,
      bearing: 147.716324 deg,
      approach rate: -0.649008 m/s,
      LOS rate: 0.129151 deg/s,
      cmd heading: 168.196564 deg,
      new cmd heading: 168.334101 deg.

2025-06-05T16:58:51.660Z,1749142731.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.937984 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:51.731Z,1749142731.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515590
2025-06-05T16:58:51.989Z,1749142731.989 [DAT](INFO): DAT read: 16:58:49.9847 LVL= 32752, 32753, 31154, 32755, AGC= 63, IDX= 416,-0.47,-2.460, 2.359,-2.937,-3.009, PHS= 0.637,-0.868, 0.069, RAW= 128.1,   2.5, CAL= 134.8,  -4.7, ROT=  15.2,   4.7

2025-06-05T16:58:51.990Z,1749142731.990 [DAT](INFO): got valid direction response:
 16:58:49.9847 LVL= 32752, 32753, 31154, 32755, AGC= 63, IDX= 416,-0.47,-2.460, 2.359,-2.937,-3.009, PHS= 0.637,-0.868, 0.069, RAW= 128.1,   2.5, CAL= 134.8,  -4.7, ROT=  15.2,   4.7

2025-06-05T16:58:51.991Z,1749142731.991 [DAT](INFO): DAT read: $Error in header

2025-06-05T16:58:51.991Z,1749142731.991 [DAT](INFO): Received a bad header
2025-06-05T16:58:52.003Z,1749142732.003 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T16:58:52.006Z,1749142732.006 [DAT](INFO): direction in FSK: [0.961772,0.261308,-0.081939]
2025-06-05T16:58:52.009Z,1749142732.009 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:52.009Z,1749142732.009 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:52.009Z,1749142732.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:52.225Z,1749142732.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:52.233Z,1749142732.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:52.236Z,1749142732.236 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:52.236Z,1749142732.236 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:52.236Z,1749142732.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:52.240Z,1749142732.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 124.828171 m,
      bearing: 147.785690 deg,
      approach rate: -0.603549 m/s,
      LOS rate: 0.120769 deg/s,
      cmd heading: 168.334097 deg,
      new cmd heading: 168.542773 deg.

2025-06-05T16:58:52.241Z,1749142732.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.941626 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:52.487Z,1749142732.487 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:52.488Z,1749142732.488 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:52.488Z,1749142732.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:52.582Z,1749142732.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:52.585Z,1749142732.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 124.601326 m,
      bearing: 147.827728 deg,
      approach rate: -0.648398 m/s,
      LOS rate: 0.120377 deg/s,
      cmd heading: 168.542772 deg,
      new cmd heading: 168.669115 deg.

2025-06-05T16:58:52.586Z,1749142732.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.943831 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:52.742Z,1749142732.742 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:52.743Z,1749142732.743 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:52.743Z,1749142732.743 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:52.991Z,1749142732.991 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:52.991Z,1749142732.991 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:52.991Z,1749142732.991 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:53.111Z,1749142733.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:53.113Z,1749142733.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 124.284180 m,
      bearing: 147.882060 deg,
      approach rate: -0.604941 m/s,
      LOS rate: 0.103899 deg/s,
      cmd heading: 168.669117 deg,
      new cmd heading: 168.832528 deg.

2025-06-05T16:58:53.119Z,1749142733.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.946683 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:53.244Z,1749142733.244 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:53.244Z,1749142733.244 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:53.244Z,1749142733.244 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:53.495Z,1749142733.495 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:53.495Z,1749142733.495 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:53.495Z,1749142733.495 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:53.647Z,1749142733.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:53.660Z,1749142733.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 123.948608 m,
      bearing: 147.929411 deg,
      approach rate: -0.620839 m/s,
      LOS rate: 0.087841 deg/s,
      cmd heading: 168.832523 deg,
      new cmd heading: 168.974960 deg.

2025-06-05T16:58:53.661Z,1749142733.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.949169 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:53.747Z,1749142733.747 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:53.747Z,1749142733.747 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:53.747Z,1749142733.747 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:54.000Z,1749142734.000 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:54.000Z,1749142734.000 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:54.000Z,1749142734.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:54.186Z,1749142734.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:54.189Z,1749142734.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 123.623955 m,
      bearing: 147.969069 deg,
      approach rate: -0.602704 m/s,
      LOS rate: 0.073817 deg/s,
      cmd heading: 168.974960 deg,
      new cmd heading: 169.094246 deg.

2025-06-05T16:58:54.190Z,1749142734.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.951251 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:54.252Z,1749142734.252 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:54.253Z,1749142734.253 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:54.253Z,1749142734.253 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:54.503Z,1749142734.503 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:54.503Z,1749142734.503 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:54.503Z,1749142734.503 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:54.607Z,1749142734.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:54.613Z,1749142734.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:54.616Z,1749142734.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 123.375816 m,
      bearing: 147.996207 deg,
      approach rate: -0.580968 m/s,
      LOS rate: 0.063666 deg/s,
      cmd heading: 169.094242 deg,
      new cmd heading: 169.175819 deg.

2025-06-05T16:58:54.617Z,1749142734.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.952675 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:54.755Z,1749142734.755 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:54.755Z,1749142734.755 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:54.756Z,1749142734.756 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:54.979Z,1749142734.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:54.987Z,1749142734.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 123.158592 m,
      bearing: 148.017150 deg,
      approach rate: -0.593317 m/s,
      LOS rate: 0.057305 deg/s,
      cmd heading: 169.175822 deg,
      new cmd heading: 169.238763 deg.

2025-06-05T16:58:54.988Z,1749142734.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.953774 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:55.007Z,1749142735.007 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:55.007Z,1749142735.007 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:55.007Z,1749142735.007 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:55.259Z,1749142735.259 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:55.259Z,1749142735.259 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:55.259Z,1749142735.259 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:55.396Z,1749142735.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:55.400Z,1749142735.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 122.900764 m,
      bearing: 148.036217 deg,
      approach rate: -0.618073 m/s,
      LOS rate: 0.045802 deg/s,
      cmd heading: 169.238769 deg,
      new cmd heading: 169.296087 deg.

2025-06-05T16:58:55.401Z,1749142735.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.954774 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:55.512Z,1749142735.512 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:55.513Z,1749142735.513 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:55.513Z,1749142735.513 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:55.763Z,1749142735.763 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:55.763Z,1749142735.763 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:55.763Z,1749142735.763 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:55.770Z,1749142735.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:55.773Z,1749142735.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 122.681366 m,
      bearing: 148.046806 deg,
      approach rate: -0.586749 m/s,
      LOS rate: 0.028370 deg/s,
      cmd heading: 169.296088 deg,
      new cmd heading: 169.327912 deg.

2025-06-05T16:58:55.774Z,1749142735.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.955330 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:56.016Z,1749142736.016 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:56.016Z,1749142736.016 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:56.016Z,1749142736.016 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:56.202Z,1749142736.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:56.225Z,1749142736.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 122.418129 m,
      bearing: 148.051226 deg,
      approach rate: -0.609473 m/s,
      LOS rate: 0.010256 deg/s,
      cmd heading: 169.327916 deg,
      new cmd heading: 169.341205 deg.

2025-06-05T16:58:56.230Z,1749142736.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.955562 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:56.267Z,1749142736.267 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:56.268Z,1749142736.268 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:56.268Z,1749142736.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:56.519Z,1749142736.519 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:56.519Z,1749142736.519 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:56.520Z,1749142736.520 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:56.592Z,1749142736.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:56.595Z,1749142736.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 122.180115 m,
      bearing: 148.052169 deg,
      approach rate: -0.610268 m/s,
      LOS rate: 0.002423 deg/s,
      cmd heading: 169.341208 deg,
      new cmd heading: 169.344043 deg.

2025-06-05T16:58:56.596Z,1749142736.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.955611 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:56.771Z,1749142736.771 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:56.771Z,1749142736.771 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:56.771Z,1749142736.771 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:56.985Z,1749142736.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:56.988Z,1749142736.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:56.991Z,1749142736.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 121.940651 m,
      bearing: 148.050074 deg,
      approach rate: -0.604353 m/s,
      LOS rate: -0.005297 deg/s,
      cmd heading: 169.344049 deg,
      new cmd heading: 169.337753 deg.

2025-06-05T16:58:56.992Z,1749142736.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.955501 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:57.023Z,1749142737.023 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:57.024Z,1749142737.024 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:57.024Z,1749142737.024 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:57.275Z,1749142737.275 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:57.275Z,1749142737.275 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:57.275Z,1749142737.275 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:57.411Z,1749142737.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:57.413Z,1749142737.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 121.676277 m,
      bearing: 148.046593 deg,
      approach rate: -0.625393 m/s,
      LOS rate: -0.008254 deg/s,
      cmd heading: 169.337752 deg,
      new cmd heading: 169.327284 deg.

2025-06-05T16:58:57.416Z,1749142737.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.955319 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:57.528Z,1749142737.528 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:57.529Z,1749142737.529 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:57.529Z,1749142737.529 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:57.779Z,1749142737.779 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:57.779Z,1749142737.779 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:57.779Z,1749142737.779 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:57.830Z,1749142737.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:57.842Z,1749142737.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 121.423042 m,
      bearing: 148.043243 deg,
      approach rate: -0.609476 m/s,
      LOS rate: -0.008078 deg/s,
      cmd heading: 169.327288 deg,
      new cmd heading: 169.317219 deg.

2025-06-05T16:58:57.843Z,1749142737.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.955143 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:58.031Z,1749142738.031 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:58:58.031Z,1749142738.031 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:58:58.032Z,1749142738.032 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T16:58:58.272Z,1749142738.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:58.281Z,1749142738.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 121.165092 m,
      bearing: 148.032739 deg,
      approach rate: -0.578215 m/s,
      LOS rate: -0.023596 deg/s,
      cmd heading: 169.317220 deg,
      new cmd heading: 169.285641 deg.

2025-06-05T16:58:58.283Z,1749142738.283 [DAT](INFO): Reached modem response timeout
2025-06-05T16:58:58.284Z,1749142738.284 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:58:58.284Z,1749142738.284 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:58.291Z,1749142738.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.954592 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:58.536Z,1749142738.536 [DAT](INFO): Reached modem response timeout
2025-06-05T16:58:58.536Z,1749142738.536 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:58:58.536Z,1749142738.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:58.664Z,1749142738.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:58.676Z,1749142738.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 120.910080 m,
      bearing: 148.019612 deg,
      approach rate: -0.652204 m/s,
      LOS rate: -0.033643 deg/s,
      cmd heading: 169.285638 deg,
      new cmd heading: 169.246174 deg.

2025-06-05T16:58:58.677Z,1749142738.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.953903 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:58.788Z,1749142738.788 [DAT](INFO): Reached modem response timeout
2025-06-05T16:58:58.788Z,1749142738.788 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:58:58.789Z,1749142738.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:58.998Z,1749142738.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:58:59.001Z,1749142739.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:59.004Z,1749142739.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 120.684479 m,
      bearing: 148.005630 deg,
      approach rate: -0.667858 m/s,
      LOS rate: -0.041470 deg/s,
      cmd heading: 169.246173 deg,
      new cmd heading: 169.204147 deg.

2025-06-05T16:58:59.005Z,1749142739.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.953170 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:59.040Z,1749142739.040 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:58:59.040Z,1749142739.040 [DAT](INFO): response not received
2025-06-05T16:58:59.040Z,1749142739.040 [DAT](INFO): DAT read: user:2512>

2025-06-05T16:58:59.041Z,1749142739.041 [DAT](ERROR): No response from remote modem.
2025-06-05T16:58:59.041Z,1749142739.041 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:58:59.041Z,1749142739.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:58:59.291Z,1749142739.291 [DAT](INFO): DAT read: Tx time:16:58:58.3600

2025-06-05T16:58:59.292Z,1749142739.292 [DAT](INFO): Ping request sent.
2025-06-05T16:58:59.292Z,1749142739.292 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:58:59.292Z,1749142739.292 [DAT](INFO): DAT read: TxSync time:16:58:58.3592

2025-06-05T16:58:59.293Z,1749142739.293 [DAT](INFO): publishing transmit ping time
2025-06-05T16:58:59.293Z,1749142739.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001566
2025-06-05T16:58:59.429Z,1749142739.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:59.434Z,1749142739.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 120.404243 m,
      bearing: 147.995763 deg,
      approach rate: -0.654873 m/s,
      LOS rate: -0.023112 deg/s,
      cmd heading: 169.204153 deg,
      new cmd heading: 169.174484 deg.

2025-06-05T16:58:59.435Z,1749142739.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.952652 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:58:59.544Z,1749142739.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252136
2025-06-05T16:58:59.795Z,1749142739.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503240
2025-06-05T16:58:59.822Z,1749142739.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:58:59.825Z,1749142739.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 120.149162 m,
      bearing: 147.986742 deg,
      approach rate: -0.649705 m/s,
      LOS rate: -0.023027 deg/s,
      cmd heading: 169.174483 deg,
      new cmd heading: 169.147361 deg.

2025-06-05T16:58:59.826Z,1749142739.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.952178 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:00.050Z,1749142740.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757668
2025-06-05T16:59:00.268Z,1749142740.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:00.272Z,1749142740.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 119.856644 m,
      bearing: 147.970285 deg,
      approach rate: -0.654949 m/s,
      LOS rate: -0.036936 deg/s,
      cmd heading: 169.147367 deg,
      new cmd heading: 169.097877 deg.

2025-06-05T16:59:00.273Z,1749142740.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.951315 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:00.300Z,1749142740.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008132
2025-06-05T16:59:00.552Z,1749142740.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259516
2025-06-05T16:59:00.614Z,1749142740.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:00.638Z,1749142740.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 119.628464 m,
      bearing: 147.956003 deg,
      approach rate: -0.660920 m/s,
      LOS rate: -0.041446 deg/s,
      cmd heading: 169.097876 deg,
      new cmd heading: 169.054949 deg.

2025-06-05T16:59:00.639Z,1749142740.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.950566 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:00.803Z,1749142740.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511546
2025-06-05T16:59:01.019Z,1749142741.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:01.021Z,1749142741.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:01.024Z,1749142741.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 119.363037 m,
      bearing: 147.937889 deg,
      approach rate: -0.651822 m/s,
      LOS rate: -0.044584 deg/s,
      cmd heading: 169.054955 deg,
      new cmd heading: 169.000490 deg.

2025-06-05T16:59:01.025Z,1749142741.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.949615 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:01.055Z,1749142741.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763441
2025-06-05T16:59:01.307Z,1749142741.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015241
2025-06-05T16:59:01.452Z,1749142741.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:01.455Z,1749142741.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 119.081879 m,
      bearing: 147.923391 deg,
      approach rate: -0.652512 m/s,
      LOS rate: -0.033725 deg/s,
      cmd heading: 169.000491 deg,
      new cmd heading: 168.956896 deg.

2025-06-05T16:59:01.456Z,1749142741.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.948854 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:01.559Z,1749142741.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267527
2025-06-05T16:59:01.811Z,1749142741.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519384
2025-06-05T16:59:01.844Z,1749142741.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:01.847Z,1749142741.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 118.824081 m,
      bearing: 147.910038 deg,
      approach rate: -0.656317 m/s,
      LOS rate: -0.034071 deg/s,
      cmd heading: 168.956901 deg,
      new cmd heading: 168.916752 deg.

2025-06-05T16:59:01.851Z,1749142741.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.948153 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:02.063Z,1749142742.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771371
2025-06-05T16:59:02.307Z,1749142742.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:02.309Z,1749142742.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 118.529465 m,
      bearing: 147.895599 deg,
      approach rate: -0.637969 m/s,
      LOS rate: -0.031343 deg/s,
      cmd heading: 168.916753 deg,
      new cmd heading: 168.873330 deg.

2025-06-05T16:59:02.311Z,1749142742.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.947396 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:02.316Z,1749142742.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024731
2025-06-05T16:59:02.568Z,1749142742.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276470
2025-06-05T16:59:02.646Z,1749142742.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:02.651Z,1749142742.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 118.311867 m,
      bearing: 147.884889 deg,
      approach rate: -0.640869 m/s,
      LOS rate: -0.031602 deg/s,
      cmd heading: 168.873326 deg,
      new cmd heading: 168.841136 deg.

2025-06-05T16:59:02.654Z,1749142742.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.946834 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:02.819Z,1749142742.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527446
2025-06-05T16:59:03.044Z,1749142743.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:03.046Z,1749142743.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:03.051Z,1749142743.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 118.058006 m,
      bearing: 147.868314 deg,
      approach rate: -0.634196 m/s,
      LOS rate: -0.041497 deg/s,
      cmd heading: 168.841142 deg,
      new cmd heading: 168.791310 deg.

2025-06-05T16:59:03.052Z,1749142743.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.945964 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:03.071Z,1749142743.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779547
2025-06-05T16:59:03.324Z,1749142743.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031693
2025-06-05T16:59:03.471Z,1749142743.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:03.473Z,1749142743.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 117.792580 m,
      bearing: 147.853714 deg,
      approach rate: -0.625804 m/s,
      LOS rate: -0.034500 deg/s,
      cmd heading: 168.791309 deg,
      new cmd heading: 168.747412 deg.

2025-06-05T16:59:03.475Z,1749142743.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.945198 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:03.576Z,1749142743.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283746
2025-06-05T16:59:03.827Z,1749142743.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535315
2025-06-05T16:59:03.861Z,1749142743.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:03.864Z,1749142743.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 117.546928 m,
      bearing: 147.840080 deg,
      approach rate: -0.628555 m/s,
      LOS rate: -0.034958 deg/s,
      cmd heading: 168.747405 deg,
      new cmd heading: 168.706418 deg.

2025-06-05T16:59:03.866Z,1749142743.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.944483 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:04.079Z,1749142744.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787415
2025-06-05T16:59:04.331Z,1749142744.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039452
2025-06-05T16:59:04.397Z,1749142744.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:04.402Z,1749142744.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 117.217278 m,
      bearing: 147.821310 deg,
      approach rate: -0.614587 m/s,
      LOS rate: -0.035094 deg/s,
      cmd heading: 168.706424 deg,
      new cmd heading: 168.649953 deg.

2025-06-05T16:59:04.403Z,1749142744.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.943497 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:04.584Z,1749142744.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291801
2025-06-05T16:59:04.768Z,1749142744.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:04.774Z,1749142744.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 117.007195 m,
      bearing: 147.809535 deg,
      approach rate: -0.567553 m/s,
      LOS rate: -0.031866 deg/s,
      cmd heading: 168.649952 deg,
      new cmd heading: 168.614566 deg.

2025-06-05T16:59:04.776Z,1749142744.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.942879 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:04.835Z,1749142744.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543538
2025-06-05T16:59:05.087Z,1749142745.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795439
2025-06-05T16:59:05.143Z,1749142745.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:05.145Z,1749142745.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:05.149Z,1749142745.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 116.756889 m,
      bearing: 147.795872 deg,
      approach rate: -0.662860 m/s,
      LOS rate: -0.036261 deg/s,
      cmd heading: 168.614571 deg,
      new cmd heading: 168.573493 deg.

2025-06-05T16:59:05.150Z,1749142745.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.942163 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:05.339Z,1749142745.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047620
2025-06-05T16:59:05.579Z,1749142745.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:05.583Z,1749142745.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 116.498535 m,
      bearing: 147.779178 deg,
      approach rate: -0.595091 m/s,
      LOS rate: -0.038538 deg/s,
      cmd heading: 168.573495 deg,
      new cmd heading: 168.523302 deg.

2025-06-05T16:59:05.584Z,1749142745.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.941287 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:05.591Z,1749142745.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299433
2025-06-05T16:59:05.843Z,1749142745.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551464
2025-06-05T16:59:06.050Z,1749142746.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:06.053Z,1749142746.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 116.229050 m,
      bearing: 147.762192 deg,
      approach rate: -0.592888 m/s,
      LOS rate: -0.037456 deg/s,
      cmd heading: 168.523306 deg,
      new cmd heading: 168.472231 deg.

2025-06-05T16:59:06.054Z,1749142746.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.940395 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:06.095Z,1749142746.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803665
2025-06-05T16:59:06.347Z,1749142746.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055303
2025-06-05T16:59:06.477Z,1749142746.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:06.493Z,1749142746.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 115.977592 m,
      bearing: 147.744690 deg,
      approach rate: -0.568309 m/s,
      LOS rate: -0.039642 deg/s,
      cmd heading: 168.472230 deg,
      new cmd heading: 168.419609 deg.

2025-06-05T16:59:06.500Z,1749142746.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.939477 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:06.600Z,1749142746.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308402
2025-06-05T16:59:06.851Z,1749142746.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559397
2025-06-05T16:59:07.038Z,1749142747.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:07.041Z,1749142747.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 115.682854 m,
      bearing: 147.724668 deg,
      approach rate: -0.525082 m/s,
      LOS rate: -0.035759 deg/s,
      cmd heading: 168.419611 deg,
      new cmd heading: 168.359393 deg.

2025-06-05T16:59:07.042Z,1749142747.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.938426 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:07.103Z,1749142747.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811451
2025-06-05T16:59:07.358Z,1749142747.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066310
2025-06-05T16:59:07.420Z,1749142747.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:07.426Z,1749142747.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:07.429Z,1749142747.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 115.401398 m,
      bearing: 147.703268 deg,
      approach rate: -0.731807 m/s,
      LOS rate: -0.055778 deg/s,
      cmd heading: 168.359396 deg,
      new cmd heading: 168.295039 deg.

2025-06-05T16:59:07.434Z,1749142747.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.937303 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:07.609Z,1749142747.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316784
2025-06-05T16:59:07.817Z,1749142747.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:07.824Z,1749142747.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 115.173462 m,
      bearing: 147.686692 deg,
      approach rate: -0.577453 m/s,
      LOS rate: -0.042076 deg/s,
      cmd heading: 168.295042 deg,
      new cmd heading: 168.245216 deg.

2025-06-05T16:59:07.825Z,1749142747.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.936433 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:07.861Z,1749142747.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568633
2025-06-05T16:59:08.111Z,1749142748.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819300
2025-06-05T16:59:08.195Z,1749142748.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:08.197Z,1749142748.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 114.938324 m,
      bearing: 147.669975 deg,
      approach rate: -0.650831 m/s,
      LOS rate: -0.046367 deg/s,
      cmd heading: 168.245222 deg,
      new cmd heading: 168.194966 deg.

2025-06-05T16:59:08.203Z,1749142748.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.935556 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:08.363Z,1749142748.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071664
2025-06-05T16:59:08.576Z,1749142748.576 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  77.75,  70.96,  70I,-32768,-32768,-32768,-
2025-06-05T16:59:08.592Z,1749142748.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:08.595Z,1749142748.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 114.687599 m,
      bearing: 147.652473 deg,
      approach rate: -0.605336 m/s,
      LOS rate: -0.042347 deg/s,
      cmd heading: 168.194966 deg,
      new cmd heading: 168.142347 deg.

2025-06-05T16:59:08.596Z,1749142748.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.934638 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:08.616Z,1749142748.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324477
2025-06-05T16:59:08.868Z,1749142748.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575784
2025-06-05T16:59:08.994Z,1749142748.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:08.997Z,1749142748.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 114.444267 m,
      bearing: 147.635857 deg,
      approach rate: -0.605893 m/s,
      LOS rate: -0.041462 deg/s,
      cmd heading: 168.142346 deg,
      new cmd heading: 168.092391 deg.

2025-06-05T16:59:08.999Z,1749142748.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.933766 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:09.119Z,1749142749.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827526
2025-06-05T16:59:09.371Z,1749142749.371 [DAT](INFO): Reached modem response timeout
2025-06-05T16:59:09.371Z,1749142749.371 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:59:09.371Z,1749142749.371 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:09.456Z,1749142749.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:09.462Z,1749142749.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:09.471Z,1749142749.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 114.161049 m,
      bearing: 147.613012 deg,
      approach rate: -0.610400 m/s,
      LOS rate: -0.049357 deg/s,
      cmd heading: 168.092390 deg,
      new cmd heading: 168.023686 deg.

2025-06-05T16:59:09.472Z,1749142749.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.932567 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:09.623Z,1749142749.623 [DAT](INFO): Reached modem response timeout
2025-06-05T16:59:09.624Z,1749142749.624 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:59:09.624Z,1749142749.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:09.831Z,1749142749.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:09.833Z,1749142749.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 113.928673 m,
      bearing: 147.594927 deg,
      approach rate: -0.623602 m/s,
      LOS rate: -0.048631 deg/s,
      cmd heading: 168.023692 deg,
      new cmd heading: 167.969326 deg.

2025-06-05T16:59:09.835Z,1749142749.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.931618 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:09.877Z,1749142749.877 [DAT](INFO): Reached modem response timeout
2025-06-05T16:59:09.878Z,1749142749.878 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:59:09.879Z,1749142749.879 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:10.127Z,1749142750.127 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:59:10.127Z,1749142750.127 [DAT](INFO): response not received
2025-06-05T16:59:10.128Z,1749142750.128 [DAT](INFO): DAT read: user:2513>

2025-06-05T16:59:10.128Z,1749142750.128 [DAT](INFO): DAT read: Tx time:16:59:09.3101

2025-06-05T16:59:10.129Z,1749142750.129 [DAT](INFO): Ping request sent.
2025-06-05T16:59:10.129Z,1749142750.129 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:59:10.129Z,1749142750.129 [DAT](INFO): publishing transmit ping time
2025-06-05T16:59:10.130Z,1749142750.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770
2025-06-05T16:59:10.379Z,1749142750.379 [DAT](INFO): DAT read: TxSync time:16:59:09.3093

2025-06-05T16:59:10.380Z,1749142750.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251428
2025-06-05T16:59:10.384Z,1749142750.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:10.390Z,1749142750.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 113.586037 m,
      bearing: 147.568125 deg,
      approach rate: -0.619764 m/s,
      LOS rate: -0.048627 deg/s,
      cmd heading: 167.969323 deg,
      new cmd heading: 167.888674 deg.

2025-06-05T16:59:10.392Z,1749142750.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.930210 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:10.575Z,1749142750.575 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:59:10.632Z,1749142750.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503154
2025-06-05T16:59:10.864Z,1749142750.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:10.868Z,1749142750.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 113.278664 m,
      bearing: 147.544624 deg,
      approach rate: -0.639961 m/s,
      LOS rate: -0.049063 deg/s,
      cmd heading: 167.888673 deg,
      new cmd heading: 167.817978 deg.

2025-06-05T16:59:10.869Z,1749142750.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.928976 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:10.887Z,1749142750.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758303
2025-06-05T16:59:11.139Z,1749142751.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010289
2025-06-05T16:59:11.372Z,1749142751.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:11.379Z,1749142751.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 112.984482 m,
      bearing: 147.522554 deg,
      approach rate: -0.578450 m/s,
      LOS rate: -0.043510 deg/s,
      cmd heading: 167.817980 deg,
      new cmd heading: 167.751597 deg.

2025-06-05T16:59:11.380Z,1749142751.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.927818 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:11.391Z,1749142751.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262415
2025-06-05T16:59:11.578Z,1749142751.578 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:59:11.643Z,1749142751.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514328
2025-06-05T16:59:11.752Z,1749142751.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:11.759Z,1749142751.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:11.761Z,1749142751.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 112.721169 m,
      bearing: 147.503551 deg,
      approach rate: -0.689392 m/s,
      LOS rate: -0.049868 deg/s,
      cmd heading: 167.751591 deg,
      new cmd heading: 167.694450 deg.

2025-06-05T16:59:11.767Z,1749142751.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.926820 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:11.895Z,1749142751.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766454
2025-06-05T16:59:12.108Z,1749142752.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:12.111Z,1749142752.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 112.479828 m,
      bearing: 147.486582 deg,
      approach rate: -0.682700 m/s,
      LOS rate: -0.048105 deg/s,
      cmd heading: 167.694449 deg,
      new cmd heading: 167.643432 deg.

2025-06-05T16:59:12.112Z,1749142752.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.925930 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:12.149Z,1749142752.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019595
2025-06-05T16:59:12.400Z,1749142752.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271375
2025-06-05T16:59:12.570Z,1749142752.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:12.573Z,1749142752.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 112.193855 m,
      bearing: 147.468483 deg,
      approach rate: -0.625926 m/s,
      LOS rate: -0.039716 deg/s,
      cmd heading: 167.643428 deg,
      new cmd heading: 167.588992 deg.

2025-06-05T16:59:12.578Z,1749142752.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924980 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:12.652Z,1749142752.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522675
2025-06-05T16:59:12.903Z,1749142752.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774418
2025-06-05T16:59:12.953Z,1749142752.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:12.960Z,1749142752.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 111.944046 m,
      bearing: 147.452636 deg,
      approach rate: -0.644144 m/s,
      LOS rate: -0.040952 deg/s,
      cmd heading: 167.588991 deg,
      new cmd heading: 167.541345 deg.

2025-06-05T16:59:12.961Z,1749142752.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924148 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:13.155Z,1749142753.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026179
2025-06-05T16:59:13.407Z,1749142753.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278323
2025-06-05T16:59:13.423Z,1749142753.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:13.425Z,1749142753.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 111.631874 m,
      bearing: 147.432733 deg,
      approach rate: -0.670389 m/s,
      LOS rate: -0.042861 deg/s,
      cmd heading: 167.541344 deg,
      new cmd heading: 167.481469 deg.

2025-06-05T16:59:13.427Z,1749142753.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.923103 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:13.659Z,1749142753.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530293
2025-06-05T16:59:13.755Z,1749142753.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:13.757Z,1749142753.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 111.389450 m,
      bearing: 147.418178 deg,
      approach rate: -0.721934 m/s,
      LOS rate: -0.043439 deg/s,
      cmd heading: 167.481470 deg,
      new cmd heading: 167.437710 deg.

2025-06-05T16:59:13.775Z,1749142753.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.922339 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:13.913Z,1749142753.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784268
2025-06-05T16:59:14.121Z,1749142754.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:14.124Z,1749142754.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:14.126Z,1749142754.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 111.142601 m,
      bearing: 147.403275 deg,
      approach rate: -0.667977 m/s,
      LOS rate: -0.040420 deg/s,
      cmd heading: 167.437716 deg,
      new cmd heading: 167.392905 deg.

2025-06-05T16:59:14.127Z,1749142754.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.921557 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:14.164Z,1749142754.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034923
2025-06-05T16:59:14.421Z,1749142754.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289057
2025-06-05T16:59:14.576Z,1749142754.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:14.600Z,1749142754.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 110.840927 m,
      bearing: 147.383787 deg,
      approach rate: -0.667072 m/s,
      LOS rate: -0.043208 deg/s,
      cmd heading: 167.392910 deg,
      new cmd heading: 167.334289 deg.

2025-06-05T16:59:14.601Z,1749142754.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.920534 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:14.668Z,1749142754.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538575
2025-06-05T16:59:14.919Z,1749142754.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790581
2025-06-05T16:59:14.956Z,1749142754.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:14.965Z,1749142754.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 110.604050 m,
      bearing: 147.368588 deg,
      approach rate: -0.622975 m/s,
      LOS rate: -0.040060 deg/s,
      cmd heading: 167.334293 deg,
      new cmd heading: 167.288597 deg.

2025-06-05T16:59:14.972Z,1749142754.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.919737 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:15.171Z,1749142755.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042341
2025-06-05T16:59:15.340Z,1749142755.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:15.343Z,1749142755.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 110.336906 m,
      bearing: 147.351525 deg,
      approach rate: -0.695914 m/s,
      LOS rate: -0.044556 deg/s,
      cmd heading: 167.288599 deg,
      new cmd heading: 167.237288 deg.

2025-06-05T16:59:15.344Z,1749142755.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.918841 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:15.423Z,1749142755.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294562
2025-06-05T16:59:15.675Z,1749142755.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546212
2025-06-05T16:59:15.780Z,1749142755.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:15.784Z,1749142755.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 110.036087 m,
      bearing: 147.333675 deg,
      approach rate: -0.684060 m/s,
      LOS rate: -0.040701 deg/s,
      cmd heading: 167.237291 deg,
      new cmd heading: 167.183596 deg.

2025-06-05T16:59:15.785Z,1749142755.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.917904 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:15.927Z,1749142755.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798411
2025-06-05T16:59:16.140Z,1749142756.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:16.142Z,1749142756.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:16.145Z,1749142756.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 109.791168 m,
      bearing: 147.319132 deg,
      approach rate: -0.675957 m/s,
      LOS rate: -0.040227 deg/s,
      cmd heading: 167.183592 deg,
      new cmd heading: 167.139866 deg.

2025-06-05T16:59:16.146Z,1749142756.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.917141 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:16.179Z,1749142756.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050475
2025-06-05T16:59:16.435Z,1749142756.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305472
2025-06-05T16:59:16.594Z,1749142756.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:16.597Z,1749142756.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 109.486359 m,
      bearing: 147.300907 deg,
      approach rate: -0.674722 m/s,
      LOS rate: -0.040455 deg/s,
      cmd heading: 167.139865 deg,
      new cmd heading: 167.085037 deg.

2025-06-05T16:59:16.600Z,1749142756.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.916184 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:16.684Z,1749142756.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555322
2025-06-05T16:59:16.937Z,1749142756.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807427
2025-06-05T16:59:16.976Z,1749142756.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:16.979Z,1749142756.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 109.228584 m,
      bearing: 147.285326 deg,
      approach rate: -0.675065 m/s,
      LOS rate: -0.040899 deg/s,
      cmd heading: 167.085033 deg,
      new cmd heading: 167.038180 deg.

2025-06-05T16:59:16.980Z,1749142756.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.915366 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:17.188Z,1749142757.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059557
2025-06-05T16:59:17.356Z,1749142757.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:17.360Z,1749142757.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 108.973206 m,
      bearing: 147.269848 deg,
      approach rate: -0.670872 m/s,
      LOS rate: -0.040758 deg/s,
      cmd heading: 167.038177 deg,
      new cmd heading: 166.991632 deg.

2025-06-05T16:59:17.364Z,1749142757.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.914554 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:17.443Z,1749142757.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312826
2025-06-05T16:59:17.691Z,1749142757.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562352
2025-06-05T16:59:17.843Z,1749142757.843 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T16:59:17.860Z,1749142757.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:17.879Z,1749142757.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 108.632195 m,
      bearing: 147.249043 deg,
      approach rate: -0.677577 m/s,
      LOS rate: -0.041467 deg/s,
      cmd heading: 166.991637 deg,
      new cmd heading: 166.929028 deg.

2025-06-05T16:59:17.880Z,1749142757.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.913461 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:17.945Z,1749142757.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815930
2025-06-05T16:59:18.195Z,1749142758.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066470
2025-06-05T16:59:18.367Z,1749142758.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:18.369Z,1749142758.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:18.376Z,1749142758.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 108.294235 m,
      bearing: 147.228209 deg,
      approach rate: -0.663029 m/s,
      LOS rate: -0.041003 deg/s,
      cmd heading: 166.929031 deg,
      new cmd heading: 166.866331 deg.

2025-06-05T16:59:18.377Z,1749142758.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.912367 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:18.451Z,1749142758.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.321462
2025-06-05T16:59:18.700Z,1749142758.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571604
2025-06-05T16:59:18.951Z,1749142758.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822403
2025-06-05T16:59:18.962Z,1749142758.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:18.965Z,1749142758.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 107.895073 m,
      bearing: 147.198159 deg,
      approach rate: -0.673180 m/s,
      LOS rate: -0.050865 deg/s,
      cmd heading: 166.866330 deg,
      new cmd heading: 166.775848 deg.

2025-06-05T16:59:18.966Z,1749142758.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.910788 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:19.203Z,1749142759.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074305
2025-06-05T16:59:19.400Z,1749142759.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:19.404Z,1749142759.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 107.608864 m,
      bearing: 147.176475 deg,
      approach rate: -0.653953 m/s,
      LOS rate: -0.049678 deg/s,
      cmd heading: 166.775844 deg,
      new cmd heading: 166.710617 deg.

2025-06-05T16:59:19.405Z,1749142759.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.909649 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:19.459Z,1749142759.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.328964
2025-06-05T16:59:19.707Z,1749142759.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578276
2025-06-05T16:59:19.800Z,1749142759.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:19.819Z,1749142759.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 107.337585 m,
      bearing: 147.152655 deg,
      approach rate: -0.677378 m/s,
      LOS rate: -0.059626 deg/s,
      cmd heading: 166.710615 deg,
      new cmd heading: 166.638977 deg.

2025-06-05T16:59:19.820Z,1749142759.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.908399 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:19.959Z,1749142759.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830186
2025-06-05T16:59:20.183Z,1749142760.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:20.186Z,1749142760.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 107.081566 m,
      bearing: 147.130234 deg,
      approach rate: -0.670573 m/s,
      LOS rate: -0.058868 deg/s,
      cmd heading: 166.638980 deg,
      new cmd heading: 166.571554 deg.

2025-06-05T16:59:20.187Z,1749142760.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.907222 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:20.220Z,1749142760.220 [DAT](INFO): Reached modem response timeout
2025-06-05T16:59:20.220Z,1749142760.220 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:59:20.221Z,1749142760.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:20.473Z,1749142760.473 [DAT](INFO): Reached modem response timeout
2025-06-05T16:59:20.474Z,1749142760.474 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:59:20.482Z,1749142760.482 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:20.613Z,1749142760.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:20.618Z,1749142760.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:20.621Z,1749142760.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 106.799187 m,
      bearing: 147.102519 deg,
      approach rate: -0.648164 m/s,
      LOS rate: -0.063783 deg/s,
      cmd heading: 166.571553 deg,
      new cmd heading: 166.488189 deg.

2025-06-05T16:59:20.622Z,1749142760.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.905767 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:20.723Z,1749142760.723 [DAT](INFO): Reached modem response timeout
2025-06-05T16:59:20.723Z,1749142760.723 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:59:20.723Z,1749142760.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:20.975Z,1749142760.975 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:59:20.976Z,1749142760.976 [DAT](INFO): response not received
2025-06-05T16:59:20.976Z,1749142760.976 [DAT](INFO): DAT read: user:2514>

2025-06-05T16:59:20.977Z,1749142760.977 [DAT](INFO): DAT read: Tx time:16:59:20.2602

2025-06-05T16:59:20.977Z,1749142760.977 [DAT](INFO): Ping request sent.
2025-06-05T16:59:20.977Z,1749142760.977 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:59:20.977Z,1749142760.977 [DAT](INFO): publishing transmit ping time
2025-06-05T16:59:20.978Z,1749142760.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-06-05T16:59:21.020Z,1749142761.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:21.031Z,1749142761.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 106.537613 m,
      bearing: 147.076994 deg,
      approach rate: -0.650516 m/s,
      LOS rate: -0.063635 deg/s,
      cmd heading: 166.488183 deg,
      new cmd heading: 166.411420 deg.

2025-06-05T16:59:21.033Z,1749142761.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.904427 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:21.227Z,1749142761.227 [DAT](INFO): DAT read: TxSync time:16:59:20.2594

2025-06-05T16:59:21.228Z,1749142761.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250866
2025-06-05T16:59:21.391Z,1749142761.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:21.394Z,1749142761.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 106.293938 m,
      bearing: 147.053336 deg,
      approach rate: -0.656789 m/s,
      LOS rate: -0.063914 deg/s,
      cmd heading: 166.411426 deg,
      new cmd heading: 166.340288 deg.

2025-06-05T16:59:21.395Z,1749142761.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.903186 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:21.483Z,1749142761.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504699
2025-06-05T16:59:21.732Z,1749142761.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754012
2025-06-05T16:59:21.841Z,1749142761.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:21.848Z,1749142761.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 106.019295 m,
      bearing: 147.026238 deg,
      approach rate: -0.610819 m/s,
      LOS rate: -0.060422 deg/s,
      cmd heading: 166.340282 deg,
      new cmd heading: 166.258780 deg.

2025-06-05T16:59:21.854Z,1749142761.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.901763 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:21.985Z,1749142761.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007920
2025-06-05T16:59:22.189Z,1749142762.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:22.192Z,1749142762.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 105.777061 m,
      bearing: 147.002770 deg,
      approach rate: -0.696009 m/s,
      LOS rate: -0.067586 deg/s,
      cmd heading: 166.258785 deg,
      new cmd heading: 166.188218 deg.

2025-06-05T16:59:22.193Z,1749142762.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.900532 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:22.235Z,1749142762.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258077
2025-06-05T16:59:22.491Z,1749142762.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512935
2025-06-05T16:59:22.628Z,1749142762.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:22.630Z,1749142762.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:22.634Z,1749142762.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 105.486969 m,
      bearing: 146.977180 deg,
      approach rate: -0.657617 m/s,
      LOS rate: -0.058170 deg/s,
      cmd heading: 166.188215 deg,
      new cmd heading: 166.111234 deg.

2025-06-05T16:59:22.635Z,1749142762.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.899188 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:22.739Z,1749142762.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762188
2025-06-05T16:59:22.993Z,1749142762.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015375
2025-06-05T16:59:23.012Z,1749142763.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:23.031Z,1749142763.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 105.234673 m,
      bearing: 146.955386 deg,
      approach rate: -0.659474 m/s,
      LOS rate: -0.057103 deg/s,
      cmd heading: 166.111239 deg,
      new cmd heading: 166.045701 deg.

2025-06-05T16:59:23.032Z,1749142763.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.898044 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:23.243Z,1749142763.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266035
2025-06-05T16:59:23.427Z,1749142763.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:23.430Z,1749142763.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 104.966988 m,
      bearing: 146.932566 deg,
      approach rate: -0.644785 m/s,
      LOS rate: -0.055107 deg/s,
      cmd heading: 166.045696 deg,
      new cmd heading: 165.977062 deg.

2025-06-05T16:59:23.432Z,1749142763.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.896846 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:23.499Z,1749142763.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520534
2025-06-05T16:59:23.747Z,1749142763.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770041
2025-06-05T16:59:23.871Z,1749142763.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:23.878Z,1749142763.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 104.682961 m,
      bearing: 146.908162 deg,
      approach rate: -0.640094 m/s,
      LOS rate: -0.055147 deg/s,
      cmd heading: 165.977067 deg,
      new cmd heading: 165.903655 deg.

2025-06-05T16:59:23.879Z,1749142763.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.895565 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:24.005Z,1749142764.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027466
2025-06-05T16:59:24.225Z,1749142764.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:24.233Z,1749142764.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 104.446419 m,
      bearing: 146.888281 deg,
      approach rate: -0.668214 m/s,
      LOS rate: -0.056289 deg/s,
      cmd heading: 165.903656 deg,
      new cmd heading: 165.843878 deg.

2025-06-05T16:59:24.243Z,1749142764.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.894522 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:24.255Z,1749142764.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278320
2025-06-05T16:59:24.510Z,1749142764.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532259
2025-06-05T16:59:24.639Z,1749142764.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:24.641Z,1749142764.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:24.645Z,1749142764.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 104.164017 m,
      bearing: 146.866332 deg,
      approach rate: -0.678668 m/s,
      LOS rate: -0.052891 deg/s,
      cmd heading: 165.843878 deg,
      new cmd heading: 165.777852 deg.

2025-06-05T16:59:24.646Z,1749142764.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.893369 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:24.760Z,1749142764.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782522
2025-06-05T16:59:25.011Z,1749142765.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034270
2025-06-05T16:59:25.040Z,1749142765.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:25.043Z,1749142765.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 103.903290 m,
      bearing: 146.846135 deg,
      approach rate: -0.654284 m/s,
      LOS rate: -0.050811 deg/s,
      cmd heading: 165.777857 deg,
      new cmd heading: 165.717114 deg.

2025-06-05T16:59:25.044Z,1749142765.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.892309 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:25.263Z,1749142765.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286009
2025-06-05T16:59:25.423Z,1749142765.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:25.426Z,1749142765.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 103.648499 m,
      bearing: 146.826527 deg,
      approach rate: -0.664188 m/s,
      LOS rate: -0.051240 deg/s,
      cmd heading: 165.717110 deg,
      new cmd heading: 165.658141 deg.

2025-06-05T16:59:25.427Z,1749142765.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.891280 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:25.524Z,1749142765.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.545680
2025-06-05T16:59:25.771Z,1749142765.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794022
2025-06-05T16:59:25.885Z,1749142765.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:25.893Z,1749142765.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 103.351189 m,
      bearing: 146.807577 deg,
      approach rate: -0.643635 m/s,
      LOS rate: -0.041143 deg/s,
      cmd heading: 165.658138 deg,
      new cmd heading: 165.601123 deg.

2025-06-05T16:59:25.894Z,1749142765.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.890285 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:26.023Z,1749142766.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046078
2025-06-05T16:59:26.230Z,1749142766.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:26.235Z,1749142766.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 103.109383 m,
      bearing: 146.792355 deg,
      approach rate: -0.701001 m/s,
      LOS rate: -0.044230 deg/s,
      cmd heading: 165.601119 deg,
      new cmd heading: 165.555349 deg.

2025-06-05T16:59:26.236Z,1749142766.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.889486 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:26.275Z,1749142766.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298141
2025-06-05T16:59:26.536Z,1749142766.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.558179
2025-06-05T16:59:26.672Z,1749142766.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:26.674Z,1749142766.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:26.677Z,1749142766.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 102.808815 m,
      bearing: 146.778425 deg,
      approach rate: -0.677006 m/s,
      LOS rate: -0.031468 deg/s,
      cmd heading: 165.555343 deg,
      new cmd heading: 165.513431 deg.

2025-06-05T16:59:26.678Z,1749142766.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.888754 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:26.785Z,1749142766.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.807648
2025-06-05T16:59:27.035Z,1749142767.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.057991
2025-06-05T16:59:27.078Z,1749142767.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:27.096Z,1749142767.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 102.543571 m,
      bearing: 146.766437 deg,
      approach rate: -0.657365 m/s,
      LOS rate: -0.029789 deg/s,
      cmd heading: 165.513433 deg,
      new cmd heading: 165.477374 deg.

2025-06-05T16:59:27.097Z,1749142767.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.888125 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:27.287Z,1749142767.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.310093
2025-06-05T16:59:27.447Z,1749142767.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:27.468Z,1749142767.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 102.280991 m,
      bearing: 146.754617 deg,
      approach rate: -0.712348 m/s,
      LOS rate: -0.032147 deg/s,
      cmd heading: 165.477370 deg,
      new cmd heading: 165.441821 deg.

2025-06-05T16:59:27.469Z,1749142767.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.887505 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:27.545Z,1749142767.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566664
2025-06-05T16:59:27.791Z,1749142767.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.813931
2025-06-05T16:59:27.894Z,1749142767.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:27.897Z,1749142767.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 101.984917 m,
      bearing: 146.741714 deg,
      approach rate: -0.661513 m/s,
      LOS rate: -0.028913 deg/s,
      cmd heading: 165.441826 deg,
      new cmd heading: 165.403004 deg.

2025-06-05T16:59:27.902Z,1749142767.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.886827 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:28.043Z,1749142768.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066124
2025-06-05T16:59:28.254Z,1749142768.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:28.257Z,1749142768.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 101.727638 m,
      bearing: 146.730408 deg,
      approach rate: -0.714339 m/s,
      LOS rate: -0.031472 deg/s,
      cmd heading: 165.403003 deg,
      new cmd heading: 165.368998 deg.

2025-06-05T16:59:28.258Z,1749142768.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.886234 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:28.296Z,1749142768.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318523
2025-06-05T16:59:28.548Z,1749142768.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570724
2025-06-05T16:59:28.717Z,1749142768.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:28.724Z,1749142768.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:28.732Z,1749142768.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 101.423164 m,
      bearing: 146.716362 deg,
      approach rate: -0.647771 m/s,
      LOS rate: -0.029972 deg/s,
      cmd heading: 165.369002 deg,
      new cmd heading: 165.326739 deg.

2025-06-05T16:59:28.733Z,1749142768.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.885496 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:28.800Z,1749142768.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.823236
2025-06-05T16:59:29.052Z,1749142769.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.075179
2025-06-05T16:59:29.115Z,1749142769.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:29.124Z,1749142769.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 101.152016 m,
      bearing: 146.703552 deg,
      approach rate: -0.702285 m/s,
      LOS rate: -0.033269 deg/s,
      cmd heading: 165.326737 deg,
      new cmd heading: 165.288202 deg.

2025-06-05T16:59:29.125Z,1749142769.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.884823 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:29.303Z,1749142769.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326036
2025-06-05T16:59:29.474Z,1749142769.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:29.492Z,1749142769.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 100.899017 m,
      bearing: 146.691448 deg,
      approach rate: -0.696165 m/s,
      LOS rate: -0.033388 deg/s,
      cmd heading: 165.288201 deg,
      new cmd heading: 165.251800 deg.

2025-06-05T16:59:29.493Z,1749142769.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.884188 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:29.555Z,1749142769.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578210
2025-06-05T16:59:29.808Z,1749142769.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830691
2025-06-05T16:59:29.944Z,1749142769.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:29.947Z,1749142769.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 100.565567 m,
      bearing: 146.671069 deg,
      approach rate: -0.708731 m/s,
      LOS rate: -0.043460 deg/s,
      cmd heading: 165.251796 deg,
      new cmd heading: 165.190454 deg.

2025-06-05T16:59:29.949Z,1749142769.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.883117 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:30.059Z,1749142770.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082324
2025-06-05T16:59:30.301Z,1749142770.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:30.304Z,1749142770.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 100.319313 m,
      bearing: 146.655922 deg,
      approach rate: -0.689702 m/s,
      LOS rate: -0.042526 deg/s,
      cmd heading: 165.190447 deg,
      new cmd heading: 165.144897 deg.

2025-06-05T16:59:30.305Z,1749142770.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.882322 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:30.311Z,1749142770.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334147
2025-06-05T16:59:30.563Z,1749142770.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585943
2025-06-05T16:59:30.741Z,1749142770.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:30.743Z,1749142770.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:30.746Z,1749142770.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 100.018288 m,
      bearing: 146.633860 deg,
      approach rate: -0.680643 m/s,
      LOS rate: -0.050035 deg/s,
      cmd heading: 165.144904 deg,
      new cmd heading: 165.078517 deg.

2025-06-05T16:59:30.747Z,1749142770.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.881164 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:30.817Z,1749142770.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839663
2025-06-05T16:59:31.067Z,1749142771.067 [DAT](INFO): Reached modem response timeout
2025-06-05T16:59:31.068Z,1749142771.068 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:59:31.068Z,1749142771.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:31.126Z,1749142771.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:31.129Z,1749142771.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 99.757278 m,
      bearing: 146.614560 deg,
      approach rate: -0.681737 m/s,
      LOS rate: -0.050542 deg/s,
      cmd heading: 165.078514 deg,
      new cmd heading: 165.020463 deg.

2025-06-05T16:59:31.130Z,1749142771.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.880150 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:31.320Z,1749142771.320 [DAT](INFO): Reached modem response timeout
2025-06-05T16:59:31.321Z,1749142771.321 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:59:31.321Z,1749142771.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:31.573Z,1749142771.573 [DAT](INFO): Reached modem response timeout
2025-06-05T16:59:31.574Z,1749142771.574 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:59:31.575Z,1749142771.575 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:31.704Z,1749142771.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:31.707Z,1749142771.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 99.368805 m,
      bearing: 146.581571 deg,
      approach rate: -0.672662 m/s,
      LOS rate: -0.057345 deg/s,
      cmd heading: 165.020458 deg,
      new cmd heading: 164.921104 deg.

2025-06-05T16:59:31.708Z,1749142771.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.878416 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:31.823Z,1749142771.823 [DAT](INFO): Reached modem response timeout
2025-06-05T16:59:31.823Z,1749142771.823 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:59:31.823Z,1749142771.823 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:32.056Z,1749142772.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:32.071Z,1749142772.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 99.131599 m,
      bearing: 146.561298 deg,
      approach rate: -0.674086 m/s,
      LOS rate: -0.057747 deg/s,
      cmd heading: 164.921106 deg,
      new cmd heading: 164.860143 deg.

2025-06-05T16:59:32.072Z,1749142772.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.877352 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:32.076Z,1749142772.076 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:59:32.076Z,1749142772.076 [DAT](INFO): response not received
2025-06-05T16:59:32.076Z,1749142772.076 [DAT](INFO): DAT read: user:2515>

2025-06-05T16:59:32.077Z,1749142772.077 [DAT](INFO): DAT read: Tx time:16:59:31.2104

2025-06-05T16:59:32.077Z,1749142772.077 [DAT](INFO): Ping request sent.
2025-06-05T16:59:32.077Z,1749142772.077 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:59:32.077Z,1749142772.077 [DAT](INFO): publishing transmit ping time
2025-06-05T16:59:32.078Z,1749142772.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000836
2025-06-05T16:59:32.327Z,1749142772.327 [DAT](INFO): DAT read: TxSync time:16:59:31.2096

2025-06-05T16:59:32.328Z,1749142772.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250602
2025-06-05T16:59:32.431Z,1749142772.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:32.438Z,1749142772.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 98.883148 m,
      bearing: 146.540162 deg,
      approach rate: -0.663226 m/s,
      LOS rate: -0.056565 deg/s,
      cmd heading: 164.860139 deg,
      new cmd heading: 164.796570 deg.

2025-06-05T16:59:32.440Z,1749142772.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.876243 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:32.579Z,1749142772.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501940
2025-06-05T16:59:32.831Z,1749142772.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753736
2025-06-05T16:59:32.863Z,1749142772.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:32.865Z,1749142772.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:32.869Z,1749142772.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 98.595993 m,
      bearing: 146.512464 deg,
      approach rate: -0.661028 m/s,
      LOS rate: -0.063945 deg/s,
      cmd heading: 164.796564 deg,
      new cmd heading: 164.713230 deg.

2025-06-05T16:59:32.870Z,1749142772.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874788 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:33.084Z,1749142773.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006398
2025-06-05T16:59:33.212Z,1749142773.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:33.215Z,1749142773.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 98.361305 m,
      bearing: 146.490238 deg,
      approach rate: -0.676234 m/s,
      LOS rate: -0.064195 deg/s,
      cmd heading: 164.713236 deg,
      new cmd heading: 164.646398 deg.

2025-06-05T16:59:33.216Z,1749142773.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.873622 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:33.336Z,1749142773.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258971
2025-06-05T16:59:33.587Z,1749142773.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509654
2025-06-05T16:59:33.694Z,1749142773.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:33.697Z,1749142773.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 98.091393 m,
      bearing: 146.465206 deg,
      approach rate: -0.562104 m/s,
      LOS rate: -0.052274 deg/s,
      cmd heading: 164.646395 deg,
      new cmd heading: 164.571092 deg.

2025-06-05T16:59:33.700Z,1749142773.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.872307 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:33.839Z,1749142773.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761785
2025-06-05T16:59:34.074Z,1749142774.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:34.077Z,1749142774.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 97.801376 m,
      bearing: 146.433932 deg,
      approach rate: -0.758843 m/s,
      LOS rate: -0.082074 deg/s,
      cmd heading: 164.571086 deg,
      new cmd heading: 164.476985 deg.

2025-06-05T16:59:34.078Z,1749142774.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870665 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:34.100Z,1749142774.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023058
2025-06-05T16:59:34.351Z,1749142774.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273852
2025-06-05T16:59:34.418Z,1749142774.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:34.421Z,1749142774.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 97.577576 m,
      bearing: 146.411237 deg,
      approach rate: -0.650922 m/s,
      LOS rate: -0.066157 deg/s,
      cmd heading: 164.476979 deg,
      new cmd heading: 164.408741 deg.

2025-06-05T16:59:34.422Z,1749142774.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869474 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:34.604Z,1749142774.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526318
2025-06-05T16:59:34.850Z,1749142774.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:34.854Z,1749142774.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 97.296387 m,
      bearing: 146.384708 deg,
      approach rate: -0.653440 m/s,
      LOS rate: -0.061829 deg/s,
      cmd heading: 164.408746 deg,
      new cmd heading: 164.328927 deg.

2025-06-05T16:59:34.855Z,1749142774.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777974
2025-06-05T16:59:34.857Z,1749142774.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.868081 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:35.107Z,1749142775.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029695
2025-06-05T16:59:35.248Z,1749142775.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:35.251Z,1749142775.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:35.257Z,1749142775.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 97.034195 m,
      bearing: 146.359830 deg,
      approach rate: -0.652303 m/s,
      LOS rate: -0.062060 deg/s,
      cmd heading: 164.328928 deg,
      new cmd heading: 164.254093 deg.

2025-06-05T16:59:35.259Z,1749142775.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866775 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:35.361Z,1749142775.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282926
2025-06-05T16:59:35.611Z,1749142775.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533899
2025-06-05T16:59:35.638Z,1749142775.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:35.641Z,1749142775.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 96.784042 m,
      bearing: 146.336775 deg,
      approach rate: -0.645017 m/s,
      LOS rate: -0.059602 deg/s,
      cmd heading: 164.254097 deg,
      new cmd heading: 164.184751 deg.

2025-06-05T16:59:35.642Z,1749142775.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865565 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:35.863Z,1749142775.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785692
2025-06-05T16:59:36.067Z,1749142776.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:36.070Z,1749142776.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 96.497757 m,
      bearing: 146.313963 deg,
      approach rate: -0.667284 m/s,
      LOS rate: -0.053328 deg/s,
      cmd heading: 164.184757 deg,
      new cmd heading: 164.116119 deg.

2025-06-05T16:59:36.091Z,1749142776.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.864367 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:36.117Z,1749142776.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039661
2025-06-05T16:59:36.368Z,1749142776.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290365
2025-06-05T16:59:36.455Z,1749142776.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:36.462Z,1749142776.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 96.250999 m,
      bearing: 146.294420 deg,
      approach rate: -0.635449 m/s,
      LOS rate: -0.050457 deg/s,
      cmd heading: 164.116113 deg,
      new cmd heading: 164.057333 deg.

2025-06-05T16:59:36.463Z,1749142776.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863341 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:36.619Z,1749142776.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542053
2025-06-05T16:59:36.865Z,1749142776.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:36.869Z,1749142776.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 95.963715 m,
      bearing: 146.277073 deg,
      approach rate: -0.702389 m/s,
      LOS rate: -0.042539 deg/s,
      cmd heading: 164.057333 deg,
      new cmd heading: 164.005136 deg.

2025-06-05T16:59:36.870Z,1749142776.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.862430 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:36.887Z,1749142776.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.810009
2025-06-05T16:59:37.140Z,1749142777.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.062205
2025-06-05T16:59:37.268Z,1749142777.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:37.274Z,1749142777.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:37.281Z,1749142777.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 95.697632 m,
      bearing: 146.261086 deg,
      approach rate: -0.655900 m/s,
      LOS rate: -0.039518 deg/s,
      cmd heading: 164.005136 deg,
      new cmd heading: 163.957041 deg.

2025-06-05T16:59:37.286Z,1749142777.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.861590 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:37.392Z,1749142777.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.314536
2025-06-05T16:59:37.643Z,1749142777.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.565887
2025-06-05T16:59:37.654Z,1749142777.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:37.673Z,1749142777.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 95.434982 m,
      bearing: 146.245330 deg,
      approach rate: -0.684709 m/s,
      LOS rate: -0.041186 deg/s,
      cmd heading: 163.957038 deg,
      new cmd heading: 163.909642 deg.

2025-06-05T16:59:37.674Z,1749142777.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.860763 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:37.895Z,1749142777.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.817999
2025-06-05T16:59:38.147Z,1749142778.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.069864
2025-06-05T16:59:38.166Z,1749142778.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:38.173Z,1749142778.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 95.106537 m,
      bearing: 146.229281 deg,
      approach rate: -0.642737 m/s,
      LOS rate: -0.031514 deg/s,
      cmd heading: 163.909637 deg,
      new cmd heading: 163.861324 deg.

2025-06-05T16:59:38.185Z,1749142778.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859920 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:38.400Z,1749142778.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.322894
2025-06-05T16:59:38.487Z,1749142778.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:38.490Z,1749142778.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 94.861794 m,
      bearing: 146.217306 deg,
      approach rate: -0.758943 m/s,
      LOS rate: -0.037231 deg/s,
      cmd heading: 163.861320 deg,
      new cmd heading: 163.825302 deg.

2025-06-05T16:59:38.509Z,1749142778.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859291 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:38.652Z,1749142778.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.574155
2025-06-05T16:59:38.903Z,1749142778.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.825804
2025-06-05T16:59:38.958Z,1749142778.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:38.965Z,1749142778.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 94.540169 m,
      bearing: 146.207834 deg,
      approach rate: -0.683547 m/s,
      LOS rate: -0.020200 deg/s,
      cmd heading: 163.825297 deg,
      new cmd heading: 163.796784 deg.

2025-06-05T16:59:38.971Z,1749142778.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858793 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:39.155Z,1749142779.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.077709
2025-06-05T16:59:39.305Z,1749142779.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:39.307Z,1749142779.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:39.310Z,1749142779.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 94.284821 m,
      bearing: 146.200205 deg,
      approach rate: -0.729958 m/s,
      LOS rate: -0.021869 deg/s,
      cmd heading: 163.796788 deg,
      new cmd heading: 163.773838 deg.

2025-06-05T16:59:39.311Z,1749142779.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858393 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:39.407Z,1749142779.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.330092
2025-06-05T16:59:39.659Z,1749142779.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.581740
2025-06-05T16:59:39.772Z,1749142779.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:39.781Z,1749142779.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 94.002769 m,
      bearing: 146.191669 deg,
      approach rate: -0.615085 m/s,
      LOS rate: -0.018671 deg/s,
      cmd heading: 163.773839 deg,
      new cmd heading: 163.748154 deg.

2025-06-05T16:59:39.787Z,1749142779.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.857944 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:39.911Z,1749142779.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.833975
2025-06-05T16:59:40.154Z,1749142780.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:40.157Z,1749142780.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 93.687027 m,
      bearing: 146.183892 deg,
      approach rate: -0.814714 m/s,
      LOS rate: -0.020133 deg/s,
      cmd heading: 163.748157 deg,
      new cmd heading: 163.724749 deg.

2025-06-05T16:59:40.158Z,1749142780.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.857536 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:40.163Z,1749142780.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.085958
2025-06-05T16:59:40.416Z,1749142780.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.338903
2025-06-05T16:59:40.505Z,1749142780.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:40.526Z,1749142780.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 93.435684 m,
      bearing: 146.177627 deg,
      approach rate: -0.714677 m/s,
      LOS rate: -0.017862 deg/s,
      cmd heading: 163.724743 deg,
      new cmd heading: 163.705898 deg.

2025-06-05T16:59:40.537Z,1749142780.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.857207 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:40.667Z,1749142780.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.589983
2025-06-05T16:59:40.919Z,1749142780.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.841962
2025-06-05T16:59:40.970Z,1749142780.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:40.973Z,1749142780.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 93.108192 m,
      bearing: 146.166942 deg,
      approach rate: -0.705347 m/s,
      LOS rate: -0.023094 deg/s,
      cmd heading: 163.705892 deg,
      new cmd heading: 163.673724 deg.

2025-06-05T16:59:40.974Z,1749142780.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856645 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:41.172Z,1749142781.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.094341
2025-06-05T16:59:41.328Z,1749142781.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:41.330Z,1749142781.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:41.333Z,1749142781.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 92.853012 m,
      bearing: 146.158578 deg,
      approach rate: -0.708105 m/s,
      LOS rate: -0.023275 deg/s,
      cmd heading: 163.673722 deg,
      new cmd heading: 163.648559 deg.

2025-06-05T16:59:41.334Z,1749142781.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856206 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:41.426Z,1749142781.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.347799
2025-06-05T16:59:41.675Z,1749142781.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.597821
2025-06-05T16:59:41.700Z,1749142781.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T16:59:41.841Z,1749142781.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:41.849Z,1749142781.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 92.504219 m,
      bearing: 146.147051 deg,
      approach rate: -0.682120 m/s,
      LOS rate: -0.022627 deg/s,
      cmd heading: 163.648559 deg,
      new cmd heading: 163.613850 deg.

2025-06-05T16:59:41.855Z,1749142781.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.855600 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:41.929Z,1749142781.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.850819
2025-06-05T16:59:42.179Z,1749142782.179 [DAT](INFO): Reached modem response timeout
2025-06-05T16:59:42.179Z,1749142782.179 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:59:42.179Z,1749142782.179 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:42.201Z,1749142782.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:42.204Z,1749142782.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 92.239098 m,
      bearing: 146.135370 deg,
      approach rate: -0.737664 m/s,
      LOS rate: -0.032596 deg/s,
      cmd heading: 163.613848 deg,
      new cmd heading: 163.578703 deg.

2025-06-05T16:59:42.205Z,1749142782.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.854987 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:42.432Z,1749142782.432 [DAT](INFO): Reached modem response timeout
2025-06-05T16:59:42.433Z,1749142782.433 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:59:42.434Z,1749142782.434 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:42.604Z,1749142782.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:42.607Z,1749142782.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 91.959534 m,
      bearing: 146.123073 deg,
      approach rate: -0.692919 m/s,
      LOS rate: -0.030569 deg/s,
      cmd heading: 163.578700 deg,
      new cmd heading: 163.541700 deg.

2025-06-05T16:59:42.608Z,1749142782.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.854341 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:42.683Z,1749142782.683 [DAT](INFO): Reached modem response timeout
2025-06-05T16:59:42.683Z,1749142782.683 [DAT](DEBUG): Acoustic response timeout
2025-06-05T16:59:42.684Z,1749142782.684 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:42.703Z,1749142782.703 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T16:59:42.935Z,1749142782.935 [DAT](INFO): DAT read: Response Not Received

2025-06-05T16:59:42.935Z,1749142782.935 [DAT](INFO): response not received
2025-06-05T16:59:42.936Z,1749142782.936 [DAT](INFO): DAT read: user:2516>

2025-06-05T16:59:42.937Z,1749142782.937 [DAT](INFO): DAT read: Tx time:16:59:42.1621

2025-06-05T16:59:42.937Z,1749142782.937 [DAT](INFO): Ping request sent.
2025-06-05T16:59:42.937Z,1749142782.937 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:59:42.937Z,1749142782.937 [DAT](INFO): publishing transmit ping time
2025-06-05T16:59:42.938Z,1749142782.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-06-05T16:59:43.060Z,1749142783.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:43.079Z,1749142783.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 91.642769 m,
      bearing: 146.102167 deg,
      approach rate: -0.695606 m/s,
      LOS rate: -0.046068 deg/s,
      cmd heading: 163.541694 deg,
      new cmd heading: 163.478759 deg.

2025-06-05T16:59:43.080Z,1749142783.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853243 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:43.188Z,1749142783.188 [DAT](INFO): DAT read: TxSync time:16:59:42.1613

2025-06-05T16:59:43.188Z,1749142783.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251386
2025-06-05T16:59:43.399Z,1749142783.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:43.401Z,1749142783.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:43.414Z,1749142783.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 91.418518 m,
      bearing: 146.087464 deg,
      approach rate: -0.655881 m/s,
      LOS rate: -0.043109 deg/s,
      cmd heading: 163.478761 deg,
      new cmd heading: 163.434543 deg.

2025-06-05T16:59:43.416Z,1749142783.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852471 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:43.439Z,1749142783.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502187
2025-06-05T16:59:43.699Z,1749142783.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761365
2025-06-05T16:59:43.893Z,1749142783.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:43.901Z,1749142783.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 91.085632 m,
      bearing: 146.060303 deg,
      approach rate: -0.676603 m/s,
      LOS rate: -0.055407 deg/s,
      cmd heading: 163.434542 deg,
      new cmd heading: 163.352763 deg.

2025-06-05T16:59:43.914Z,1749142783.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851043 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:43.947Z,1749142783.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010203
2025-06-05T16:59:44.200Z,1749142784.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262954
2025-06-05T16:59:44.240Z,1749142784.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:44.247Z,1749142784.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 90.853439 m,
      bearing: 146.041278 deg,
      approach rate: -0.670377 m/s,
      LOS rate: -0.055070 deg/s,
      cmd heading: 163.352758 deg,
      new cmd heading: 163.295535 deg.

2025-06-05T16:59:44.248Z,1749142784.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.850045 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:44.451Z,1749142784.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514118
2025-06-05T16:59:44.624Z,1749142784.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:44.627Z,1749142784.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 90.581779 m,
      bearing: 146.019079 deg,
      approach rate: -0.707744 m/s,
      LOS rate: -0.058006 deg/s,
      cmd heading: 163.295534 deg,
      new cmd heading: 163.228739 deg.

2025-06-05T16:59:44.628Z,1749142784.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848879 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:44.704Z,1749142784.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767060
2025-06-05T16:59:44.955Z,1749142784.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018064
2025-06-05T16:59:45.129Z,1749142785.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:45.162Z,1749142785.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 90.248505 m,
      bearing: 145.985088 deg,
      approach rate: -0.659145 m/s,
      LOS rate: -0.067475 deg/s,
      cmd heading: 163.228735 deg,
      new cmd heading: 163.126385 deg.

2025-06-05T16:59:45.163Z,1749142785.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847093 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:45.207Z,1749142785.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270383
2025-06-05T16:59:45.459Z,1749142785.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522259
2025-06-05T16:59:45.503Z,1749142785.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:45.505Z,1749142785.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:45.512Z,1749142785.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 90.013527 m,
      bearing: 145.961580 deg,
      approach rate: -0.625179 m/s,
      LOS rate: -0.062708 deg/s,
      cmd heading: 163.126391 deg,
      new cmd heading: 163.055684 deg.

2025-06-05T16:59:45.513Z,1749142785.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.845859 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:45.712Z,1749142785.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775111
2025-06-05T16:59:45.965Z,1749142785.965 [DAT](INFO): DAT read: Rx Time:16:59:44.6885

2025-06-05T16:59:45.965Z,1749142785.965 [DAT](INFO): Rx dataTimestamp_ set to:1749142785.965171
2025-06-05T16:59:45.967Z,1749142785.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029638
2025-06-05T16:59:46.067Z,1749142786.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:46.070Z,1749142786.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 89.628670 m,
      bearing: 145.919655 deg,
      approach rate: -0.691223 m/s,
      LOS rate: -0.075624 deg/s,
      cmd heading: 163.055685 deg,
      new cmd heading: 162.929369 deg.

2025-06-05T16:59:46.071Z,1749142786.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.843654 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:46.216Z,1749142786.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279098
2025-06-05T16:59:46.470Z,1749142786.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532238
2025-06-05T16:59:46.593Z,1749142786.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.93 m.
2025-06-05T16:59:46.596Z,1749142786.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.931931 m,
      nav range: 89.267502 m,
      bearing: 145.881083 deg,
      approach rate: -0.680195 m/s,
      LOS rate: -0.072937 deg/s,
      cmd heading: 162.929368 deg,
      new cmd heading: 162.813185 deg.

2025-06-05T16:59:46.597Z,1749142786.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.841626 target range: 128.931931 and range: 130.00 m.
2025-06-05T16:59:46.734Z,1749142786.734 [DAT](INFO): DAT read: 16:59:44.6885 LVL= 23488, 27297, 16098, 30067, AGC= 68, IDX= 321,-0.26, 1.696, 0.500, 2.156, 1.551, PHS= 0.233,-1.004, 0.602, RAW= 162.7,   2.3, CAL= 163.8,  -6.5, ROT= 346.2,   6.5

2025-06-05T16:59:46.735Z,1749142786.735 [DAT](INFO): got valid direction response:
 16:59:44.6885 LVL= 23488, 27297, 16098, 30067, AGC= 68, IDX= 321,-0.26, 1.696, 0.500, 2.156, 1.551, PHS= 0.233,-1.004, 0.602, RAW= 162.7,   2.3, CAL= 163.8,  -6.5, ROT= 346.2,   6.5

2025-06-05T16:59:46.736Z,1749142786.736 [DAT](INFO): DAT read: Bearing 346.2,   6.5 (Local)

2025-06-05T16:59:46.736Z,1749142786.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.2,   6.5 (Local)

2025-06-05T16:59:46.738Z,1749142786.738 [DAT](INFO): DAT read: Range 10 to 50 : 91.7 m  (Round-trip  122.3 ms) speed  0.7 m/s

2025-06-05T16:59:46.739Z,1749142786.739 [DAT](INFO): DAT read: user:2517>

2025-06-05T16:59:46.740Z,1749142786.740 [DAT](INFO): DAT read: Tx time:16:59:45.8105

2025-06-05T16:59:46.740Z,1749142786.740 [DAT](INFO): Ping request sent.
2025-06-05T16:59:46.740Z,1749142786.740 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:59:46.741Z,1749142786.741 [DAT](INFO): DAT read: TxSync time:16:59:45.8097

2025-06-05T16:59:46.742Z,1749142786.742 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:59:46.743Z,1749142786.743 [DAT](INFO): direction in FSK: [0.964892,-0.237000,-0.113203]
2025-06-05T16:59:46.743Z,1749142786.743 [DAT](INFO): publishing transmit ping time
2025-06-05T16:59:46.743Z,1749142786.743 [DAT](INFO): publishing direction and range info
2025-06-05T16:59:46.747Z,1749142786.747 [DAT](INFO): publishing transmit ping time
2025-06-05T16:59:46.747Z,1749142786.747 [DAT](INFO): publishing direction and range info
2025-06-05T16:59:47.112Z,1749142787.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.699997 m,
      deltaT: 58.517161 s,
      deltaX: -38.300003 m,
      approachRate: -0.654509 m/s,
      rangeRepo size: 4

2025-06-05T16:59:47.119Z,1749142787.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 90.950096 m,
      bearing: 150.072944 deg,
      lat: 36.906319 deg,
      lon: -122.115834 deg,
      deltaT: 58.517161 s,
      deltaX: -37.981834 m,
      approachRate: -0.649072 m/s,
      posRepo size: 4

2025-06-05T16:59:47.119Z,1749142787.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.95 m.
2025-06-05T16:59:47.126Z,1749142787.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.950096 m,
      nav range: 88.948311 m,
      bearing: 145.850448 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072937 deg/s,
      cmd heading: 162.813186 deg,
      new cmd heading: 162.699688 deg.

2025-06-05T16:59:47.127Z,1749142787.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839645 target range: 90.950096 and range: 91.70 m.
2025-06-05T16:59:47.437Z,1749142787.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.95 m.
2025-06-05T16:59:47.444Z,1749142787.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.950096 m,
      nav range: 88.718079 m,
      bearing: 145.828176 deg,
      approach rate: -0.707147 m/s,
      LOS rate: -0.068584 deg/s,
      cmd heading: 162.699682 deg,
      new cmd heading: 162.632693 deg.

2025-06-05T16:59:47.445Z,1749142787.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838476 target range: 90.950096 and range: 91.70 m.
2025-06-05T16:59:47.842Z,1749142787.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:47.864Z,1749142787.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.95 m.
2025-06-05T16:59:47.894Z,1749142787.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.950096 m,
      nav range: 88.454712 m,
      bearing: 145.802632 deg,
      approach rate: -0.618710 m/s,
      LOS rate: -0.060186 deg/s,
      cmd heading: 162.632692 deg,
      new cmd heading: 162.555833 deg.

2025-06-05T16:59:47.902Z,1749142787.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.837135 target range: 90.950096 and range: 91.70 m.
2025-06-05T16:59:47.979Z,1749142787.979 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:59:47.979Z,1749142787.979 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:59:47.979Z,1749142787.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:48.233Z,1749142788.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492811
2025-06-05T16:59:48.274Z,1749142788.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.95 m.
2025-06-05T16:59:48.277Z,1749142788.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.950096 m,
      nav range: 88.146187 m,
      bearing: 145.777313 deg,
      approach rate: -0.749834 m/s,
      LOS rate: -0.061751 deg/s,
      cmd heading: 162.555838 deg,
      new cmd heading: 162.479614 deg.

2025-06-05T16:59:48.279Z,1749142788.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835804 target range: 90.950096 and range: 91.70 m.
2025-06-05T16:59:48.483Z,1749142788.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742742
2025-06-05T16:59:48.641Z,1749142788.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.95 m.
2025-06-05T16:59:48.650Z,1749142788.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.950096 m,
      nav range: 87.910423 m,
      bearing: 145.758198 deg,
      approach rate: -0.642068 m/s,
      LOS rate: -0.052197 deg/s,
      cmd heading: 162.479614 deg,
      new cmd heading: 162.422114 deg.

2025-06-05T16:59:48.655Z,1749142788.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834801 target range: 90.950096 and range: 91.70 m.
2025-06-05T16:59:48.736Z,1749142788.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995377
2025-06-05T16:59:48.987Z,1749142788.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246736
2025-06-05T16:59:49.060Z,1749142789.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.95 m.
2025-06-05T16:59:49.063Z,1749142789.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.950096 m,
      nav range: 87.609581 m,
      bearing: 145.740517 deg,
      approach rate: -0.719422 m/s,
      LOS rate: -0.042425 deg/s,
      cmd heading: 162.422117 deg,
      new cmd heading: 162.368894 deg.

2025-06-05T16:59:49.064Z,1749142789.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833872 target range: 90.950096 and range: 91.70 m.
2025-06-05T16:59:49.239Z,1749142789.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498677
2025-06-05T16:59:49.447Z,1749142789.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.95 m.
2025-06-05T16:59:49.452Z,1749142789.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.950096 m,
      nav range: 87.349281 m,
      bearing: 145.725318 deg,
      approach rate: -0.672183 m/s,
      LOS rate: -0.039367 deg/s,
      cmd heading: 162.368896 deg,
      new cmd heading: 162.323162 deg.

2025-06-05T16:59:49.455Z,1749142789.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833074 target range: 90.950096 and range: 91.70 m.
2025-06-05T16:59:49.491Z,1749142789.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750694
2025-06-05T16:59:49.743Z,1749142789.743 [DAT](INFO): DAT read: Rx Time:16:59:48.3334

2025-06-05T16:59:49.744Z,1749142789.744 [DAT](INFO): Rx dataTimestamp_ set to:1749142789.743325
2025-06-05T16:59:49.744Z,1749142789.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003709
2025-06-05T16:59:49.860Z,1749142789.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:49.878Z,1749142789.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.95 m.
2025-06-05T16:59:49.901Z,1749142789.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.950096 m,
      nav range: 87.068291 m,
      bearing: 145.709121 deg,
      approach rate: -0.654249 m/s,
      LOS rate: -0.037835 deg/s,
      cmd heading: 162.323161 deg,
      new cmd heading: 162.274413 deg.

2025-06-05T16:59:49.914Z,1749142789.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832223 target range: 90.950096 and range: 91.70 m.
2025-06-05T16:59:49.997Z,1749142789.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256252
2025-06-05T16:59:50.254Z,1749142790.254 [DAT](INFO): DAT read: 16:59:48.3334 LVL= 24896, 29889, 18834, 32051, AGC= 69, IDX= 413, 0.31, 0.643,-0.594, 1.050, 0.450, PHS= 0.281,-0.997, 0.597, RAW= 160.8,   1.7, CAL= 162.3,  -7.1, ROT= 347.7,   7.1

2025-06-05T16:59:50.256Z,1749142790.256 [DAT](INFO): got valid direction response:
 16:59:48.3334 LVL= 24896, 29889, 18834, 32051, AGC= 69, IDX= 413, 0.31, 0.643,-0.594, 1.050, 0.450, PHS= 0.281,-0.997, 0.597, RAW= 160.8,   1.7, CAL= 162.3,  -7.1, ROT= 347.7,   7.1

2025-06-05T16:59:50.256Z,1749142790.256 [DAT](INFO): DAT read: Bearing 347.7,   7.1 (Local)

2025-06-05T16:59:50.257Z,1749142790.257 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.7,   7.1 (Local)

2025-06-05T16:59:50.258Z,1749142790.258 [DAT](INFO): DAT read: Range 10 to 50 : 89.1 m  (Round-trip  118.8 ms) speed  0.5 m/s

2025-06-05T16:59:50.259Z,1749142790.259 [DAT](INFO): DAT read: user:2518>

2025-06-05T16:59:50.260Z,1749142790.260 [DAT](INFO): DAT read: Tx time:16:59:49.4105

2025-06-05T16:59:50.260Z,1749142790.260 [DAT](INFO): Ping request sent.
2025-06-05T16:59:50.260Z,1749142790.260 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:59:50.260Z,1749142790.260 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:59:50.261Z,1749142790.261 [DAT](INFO): direction in FSK: [0.969554,-0.211397,-0.123601]
2025-06-05T16:59:50.262Z,1749142790.262 [DAT](INFO): publishing transmit ping time
2025-06-05T16:59:50.267Z,1749142790.267 [DAT](INFO): publishing direction and range info
2025-06-05T16:59:50.269Z,1749142790.269 [DAT](INFO): publishing transmit ping time
2025-06-05T16:59:50.270Z,1749142790.270 [DAT](INFO): publishing direction and range info
2025-06-05T16:59:50.346Z,1749142790.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.099998 m,
      deltaT: 3.526859 s,
      deltaX: -2.599998 m,
      approachRate: -0.737199 m/s,
      rangeRepo size: 4

2025-06-05T16:59:50.352Z,1749142790.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 88.371445 m,
      bearing: 151.100826 deg,
      lat: 36.906302 deg,
      lon: -122.115882 deg,
      deltaT: 3.526859 s,
      deltaX: -2.578651 m,
      approachRate: -0.731147 m/s,
      posRepo size: 4

2025-06-05T16:59:50.353Z,1749142790.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.37 m.
2025-06-05T16:59:50.360Z,1749142790.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.371445 m,
      nav range: 86.022949 m,
      bearing: 148.740932 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037835 deg/s,
      cmd heading: 162.274407 deg,
      new cmd heading: 162.221223 deg.

2025-06-05T16:59:50.361Z,1749142790.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831295 target range: 88.371445 and range: 89.10 m.
2025-06-05T16:59:50.499Z,1749142790.499 [DAT](INFO): DAT read: TxSync time:16:59:49.4097

2025-06-05T16:59:50.708Z,1749142790.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.37 m.
2025-06-05T16:59:50.719Z,1749142790.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.371445 m,
      nav range: 85.733246 m,
      bearing: 148.738185 deg,
      approach rate: -0.798228 m/s,
      LOS rate: -0.007593 deg/s,
      cmd heading: 162.221228 deg,
      new cmd heading: 162.212960 deg.

2025-06-05T16:59:50.720Z,1749142790.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831150 target range: 88.371445 and range: 89.10 m.
2025-06-05T16:59:51.104Z,1749142791.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.37 m.
2025-06-05T16:59:51.107Z,1749142791.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.371445 m,
      nav range: 85.447174 m,
      bearing: 148.737763 deg,
      approach rate: -0.721507 m/s,
      LOS rate: -0.001068 deg/s,
      cmd heading: 162.212963 deg,
      new cmd heading: 162.211693 deg.

2025-06-05T16:59:51.108Z,1749142791.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831128 target range: 88.371445 and range: 89.10 m.
2025-06-05T16:59:51.497Z,1749142791.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.37 m.
2025-06-05T16:59:51.504Z,1749142791.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.371445 m,
      nav range: 85.167908 m,
      bearing: 148.737078 deg,
      approach rate: -0.711806 m/s,
      LOS rate: -0.001753 deg/s,
      cmd heading: 162.211693 deg,
      new cmd heading: 162.209630 deg.

2025-06-05T16:59:51.505Z,1749142791.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831092 target range: 88.371445 and range: 89.10 m.
2025-06-05T16:59:51.907Z,1749142791.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:51.916Z,1749142791.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.37 m.
2025-06-05T16:59:51.964Z,1749142791.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.371445 m,
      nav range: 84.886284 m,
      bearing: 148.736134 deg,
      approach rate: -0.675019 m/s,
      LOS rate: -0.002271 deg/s,
      cmd heading: 162.209630 deg,
      new cmd heading: 162.206788 deg.

2025-06-05T16:59:51.966Z,1749142791.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831043 target range: 88.371445 and range: 89.10 m.
2025-06-05T16:59:52.011Z,1749142792.011 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:59:52.011Z,1749142792.011 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:59:52.012Z,1749142792.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:52.263Z,1749142792.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002932
2025-06-05T16:59:52.325Z,1749142792.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.37 m.
2025-06-05T16:59:52.348Z,1749142792.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.371445 m,
      nav range: 84.580688 m,
      bearing: 148.738770 deg,
      approach rate: -0.743608 m/s,
      LOS rate: 0.006437 deg/s,
      cmd heading: 162.206788 deg,
      new cmd heading: 162.214724 deg.

2025-06-05T16:59:52.355Z,1749142792.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831181 target range: 88.371445 and range: 89.10 m.
2025-06-05T16:59:52.515Z,1749142792.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255047
2025-06-05T16:59:52.698Z,1749142792.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.37 m.
2025-06-05T16:59:52.702Z,1749142792.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.371445 m,
      nav range: 84.313148 m,
      bearing: 148.741553 deg,
      approach rate: -0.717922 m/s,
      LOS rate: 0.007492 deg/s,
      cmd heading: 162.214725 deg,
      new cmd heading: 162.223101 deg.

2025-06-05T16:59:52.703Z,1749142792.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831327 target range: 88.371445 and range: 89.10 m.
2025-06-05T16:59:52.768Z,1749142792.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507461
2025-06-05T16:59:53.019Z,1749142793.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759029
2025-06-05T16:59:53.116Z,1749142793.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.37 m.
2025-06-05T16:59:53.119Z,1749142793.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.371445 m,
      nav range: 84.018211 m,
      bearing: 148.742374 deg,
      approach rate: -0.706458 m/s,
      LOS rate: 0.001974 deg/s,
      cmd heading: 162.223099 deg,
      new cmd heading: 162.225572 deg.

2025-06-05T16:59:53.120Z,1749142793.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831370 target range: 88.371445 and range: 89.10 m.
2025-06-05T16:59:53.271Z,1749142793.271 [DAT](INFO): DAT read: Rx Time:16:59:51.9301

2025-06-05T16:59:53.272Z,1749142793.272 [DAT](INFO): Rx dataTimestamp_ set to:1749142793.271448
2025-06-05T16:59:53.272Z,1749142793.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012186
2025-06-05T16:59:53.513Z,1749142793.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.37 m.
2025-06-05T16:59:53.521Z,1749142793.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.371445 m,
      nav range: 83.748291 m,
      bearing: 148.743506 deg,
      approach rate: -0.679018 m/s,
      LOS rate: 0.002856 deg/s,
      cmd heading: 162.225572 deg,
      new cmd heading: 162.228977 deg.

2025-06-05T16:59:53.523Z,1749142793.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263129
2025-06-05T16:59:53.527Z,1749142793.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831430 target range: 88.371445 and range: 89.10 m.
2025-06-05T16:59:53.784Z,1749142793.784 [DAT](INFO): DAT read: 16:59:51.9301 LVL= 24144, 29649, 15026, 32755, AGC= 66, IDX= 410,-0.11, 2.566, 1.374, 2.949, 2.292, PHS= 0.362,-0.871, 0.654, RAW= 160.4,  -2.1, CAL= 163.2, -10.4, ROT= 346.8,  10.4

2025-06-05T16:59:53.785Z,1749142793.785 [DAT](INFO): got valid direction response:
 16:59:51.9301 LVL= 24144, 29649, 15026, 32755, AGC= 66, IDX= 410,-0.11, 2.566, 1.374, 2.949, 2.292, PHS= 0.362,-0.871, 0.654, RAW= 160.4,  -2.1, CAL= 163.2, -10.4, ROT= 346.8,  10.4

2025-06-05T16:59:53.787Z,1749142793.787 [DAT](INFO): DAT read: Bearing 346.8,  10.4 (Local)

2025-06-05T16:59:53.788Z,1749142793.788 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.8,  10.4 (Local)

2025-06-05T16:59:53.790Z,1749142793.790 [DAT](INFO): DAT read: Range 10 to 50 : 86.5 m  (Round-trip  115.4 ms) speed  0.5 m/s

2025-06-05T16:59:53.791Z,1749142793.791 [DAT](INFO): DAT read: user:2519>

2025-06-05T16:59:53.792Z,1749142793.792 [DAT](INFO): DAT read: Tx time:16:59:53.0106

2025-06-05T16:59:53.792Z,1749142793.792 [DAT](INFO): Ping request sent.
2025-06-05T16:59:53.792Z,1749142793.792 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:59:53.792Z,1749142793.792 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:59:53.793Z,1749142793.793 [DAT](INFO): direction in FSK: [0.957584,-0.224600,-0.180519]
2025-06-05T16:59:53.794Z,1749142793.794 [DAT](INFO): publishing transmit ping time
2025-06-05T16:59:53.794Z,1749142793.794 [DAT](INFO): publishing direction and range info
2025-06-05T16:59:53.797Z,1749142793.797 [DAT](INFO): publishing transmit ping time
2025-06-05T16:59:53.797Z,1749142793.797 [DAT](INFO): publishing direction and range info
2025-06-05T16:59:54.027Z,1749142794.027 [DAT](INFO): DAT read: TxSync time:16:59:53.0098

2025-06-05T16:59:54.040Z,1749142794.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 86.500000 m,
      deltaT: 3.528959 s,
      deltaX: -2.599998 m,
      approachRate: -0.736761 m/s,
      rangeRepo size: 4

2025-06-05T16:59:54.047Z,1749142794.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 85.792900 m,
      bearing: 150.094192 deg,
      lat: 36.906286 deg,
      lon: -122.115890 deg,
      deltaT: 3.528959 s,
      deltaX: -2.578545 m,
      approachRate: -0.730681 m/s,
      posRepo size: 4

2025-06-05T16:59:54.047Z,1749142794.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.79 m.
2025-06-05T16:59:54.056Z,1749142794.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.792900 m,
      nav range: 84.582108 m,
      bearing: 149.790871 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002856 deg/s,
      cmd heading: 162.228973 deg,
      new cmd heading: 162.233487 deg.

2025-06-05T16:59:54.057Z,1749142794.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831508 target range: 85.792900 and range: 86.50 m.
2025-06-05T16:59:54.408Z,1749142794.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:54.415Z,1749142794.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.79 m.
2025-06-05T16:59:54.423Z,1749142794.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.792900 m,
      nav range: 84.312477 m,
      bearing: 149.791854 deg,
      approach rate: -0.726947 m/s,
      LOS rate: 0.002658 deg/s,
      cmd heading: 162.233481 deg,
      new cmd heading: 162.236438 deg.

2025-06-05T16:59:54.424Z,1749142794.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831560 target range: 85.792900 and range: 86.50 m.
2025-06-05T16:59:54.532Z,1749142794.532 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:59:54.533Z,1749142794.533 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:59:54.533Z,1749142794.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:54.762Z,1749142794.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.79 m.
2025-06-05T16:59:54.765Z,1749142794.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.792900 m,
      nav range: 84.062370 m,
      bearing: 149.793433 deg,
      approach rate: -0.711659 m/s,
      LOS rate: 0.004506 deg/s,
      cmd heading: 162.236432 deg,
      new cmd heading: 162.241182 deg.

2025-06-05T16:59:54.784Z,1749142794.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992073
2025-06-05T16:59:54.786Z,1749142794.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831643 target range: 85.792900 and range: 86.50 m.
2025-06-05T16:59:55.036Z,1749142795.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243475
2025-06-05T16:59:55.186Z,1749142795.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.79 m.
2025-06-05T16:59:55.189Z,1749142795.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.792900 m,
      nav range: 83.773720 m,
      bearing: 149.796266 deg,
      approach rate: -0.680160 m/s,
      LOS rate: 0.006698 deg/s,
      cmd heading: 162.241185 deg,
      new cmd heading: 162.249713 deg.

2025-06-05T16:59:55.190Z,1749142795.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831792 target range: 85.792900 and range: 86.50 m.
2025-06-05T16:59:55.287Z,1749142795.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495078
2025-06-05T16:59:55.541Z,1749142795.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748233
2025-06-05T16:59:55.582Z,1749142795.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.79 m.
2025-06-05T16:59:55.588Z,1749142795.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.792900 m,
      nav range: 83.502823 m,
      bearing: 149.799612 deg,
      approach rate: -0.684924 m/s,
      LOS rate: 0.008487 deg/s,
      cmd heading: 162.249709 deg,
      new cmd heading: 162.259780 deg.

2025-06-05T16:59:55.590Z,1749142795.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831967 target range: 85.792900 and range: 86.50 m.
2025-06-05T16:59:55.791Z,1749142795.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998918
2025-06-05T16:59:56.043Z,1749142796.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251300
2025-06-05T16:59:56.064Z,1749142796.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.79 m.
2025-06-05T16:59:56.068Z,1749142796.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.792900 m,
      nav range: 83.181923 m,
      bearing: 149.804892 deg,
      approach rate: -0.665723 m/s,
      LOS rate: 0.010997 deg/s,
      cmd heading: 162.259777 deg,
      new cmd heading: 162.275679 deg.

2025-06-05T16:59:56.069Z,1749142796.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832245 target range: 85.792900 and range: 86.50 m.
2025-06-05T16:59:56.298Z,1749142796.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505075
2025-06-05T16:59:56.388Z,1749142796.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.79 m.
2025-06-05T16:59:56.391Z,1749142796.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.792900 m,
      nav range: 82.966080 m,
      bearing: 149.808467 deg,
      approach rate: -0.665125 m/s,
      LOS rate: 0.011044 deg/s,
      cmd heading: 162.275678 deg,
      new cmd heading: 162.286430 deg.

2025-06-05T16:59:56.392Z,1749142796.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832433 target range: 85.792900 and range: 86.50 m.
2025-06-05T16:59:56.548Z,1749142796.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755818
2025-06-05T16:59:56.792Z,1749142796.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:56.800Z,1749142796.800 [DAT](INFO): DAT read: Rx Time:16:59:55.5269

2025-06-05T16:59:56.801Z,1749142796.801 [DAT](INFO): Rx dataTimestamp_ set to:1749142796.800369
2025-06-05T16:59:56.801Z,1749142796.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009045
2025-06-05T16:59:56.802Z,1749142796.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.79 m.
2025-06-05T16:59:56.809Z,1749142796.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.792900 m,
      nav range: 82.709213 m,
      bearing: 149.812905 deg,
      approach rate: -0.633159 m/s,
      LOS rate: 0.010972 deg/s,
      cmd heading: 162.286428 deg,
      new cmd heading: 162.299783 deg.

2025-06-05T16:59:56.810Z,1749142796.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832666 target range: 85.792900 and range: 86.50 m.
2025-06-05T16:59:57.051Z,1749142797.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259070
2025-06-05T16:59:57.210Z,1749142797.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.79 m.
2025-06-05T16:59:57.213Z,1749142797.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.792900 m,
      nav range: 82.413391 m,
      bearing: 149.816695 deg,
      approach rate: -0.711034 m/s,
      LOS rate: 0.009144 deg/s,
      cmd heading: 162.299788 deg,
      new cmd heading: 162.311201 deg.

2025-06-05T16:59:57.235Z,1749142797.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832865 target range: 85.792900 and range: 86.50 m.
2025-06-05T16:59:57.307Z,1749142797.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513873
2025-06-05T16:59:57.561Z,1749142797.561 [DAT](INFO): DAT read: 16:59:55.5269 LVL= 22992, 25777, 18578, 27187, AGC= 68, IDX= 409, 0.32, 1.547, 0.285, 1.889, 1.237, PHS= 0.398,-0.904, 0.649, RAW= 158.7,  -2.0, CAL= 161.6, -10.4, ROT= 348.4,  10.4

2025-06-05T16:59:57.562Z,1749142797.562 [DAT](INFO): got valid direction response:
 16:59:55.5269 LVL= 22992, 25777, 18578, 27187, AGC= 68, IDX= 409, 0.32, 1.547, 0.285, 1.889, 1.237, PHS= 0.398,-0.904, 0.649, RAW= 158.7,  -2.0, CAL= 161.6, -10.4, ROT= 348.4,  10.4

2025-06-05T16:59:57.563Z,1749142797.563 [DAT](INFO): DAT read: Bearing 348.4,  10.4 (Local)

2025-06-05T16:59:57.563Z,1749142797.563 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.4,  10.4 (Local)

2025-06-05T16:59:57.565Z,1749142797.565 [DAT](INFO): DAT read: Range 10 to 50 : 84.1 m  (Round-trip  112.2 ms) speed  0.5 m/s

2025-06-05T16:59:57.566Z,1749142797.566 [DAT](INFO): DAT read: user:2520>

2025-06-05T16:59:57.567Z,1749142797.567 [DAT](INFO): DAT read: Tx time:16:59:56.6106

2025-06-05T16:59:57.567Z,1749142797.567 [DAT](INFO): Ping request sent.
2025-06-05T16:59:57.567Z,1749142797.567 [DAT](INFO): transmitted an acoustic signal
2025-06-05T16:59:57.568Z,1749142797.568 [DAT](INFO): DAT read: TxSync time:16:59:56.6098

2025-06-05T16:59:57.568Z,1749142797.568 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T16:59:57.569Z,1749142797.569 [DAT](INFO): direction in FSK: [0.963482,-0.197775,-0.180519]
2025-06-05T16:59:57.569Z,1749142797.569 [DAT](INFO): publishing transmit ping time
2025-06-05T16:59:57.570Z,1749142797.570 [DAT](INFO): publishing direction and range info
2025-06-05T16:59:57.573Z,1749142797.573 [DAT](INFO): publishing transmit ping time
2025-06-05T16:59:57.573Z,1749142797.573 [DAT](INFO): publishing direction and range info
2025-06-05T16:59:57.727Z,1749142797.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.099998 m,
      deltaT: 3.778962 s,
      deltaX: -2.400002 m,
      approachRate: -0.635095 m/s,
      rangeRepo size: 4

2025-06-05T16:59:57.729Z,1749142797.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 83.412125 m,
      bearing: 150.803930 deg,
      lat: 36.906279 deg,
      lon: -122.115895 deg,
      deltaT: 3.778962 s,
      deltaX: -2.380775 m,
      approachRate: -0.630008 m/s,
      posRepo size: 4

2025-06-05T16:59:57.738Z,1749142797.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T16:59:57.741Z,1749142797.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 82.416763 m,
      bearing: 150.365368 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009144 deg/s,
      cmd heading: 162.311195 deg,
      new cmd heading: 162.325130 deg.

2025-06-05T16:59:57.750Z,1749142797.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833108 target range: 83.412125 and range: 84.10 m.
2025-06-05T16:59:58.161Z,1749142798.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T16:59:58.169Z,1749142798.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 82.096512 m,
      bearing: 150.373420 deg,
      approach rate: -0.722658 m/s,
      LOS rate: 0.018241 deg/s,
      cmd heading: 162.325128 deg,
      new cmd heading: 162.349379 deg.

2025-06-05T16:59:58.170Z,1749142798.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833531 target range: 83.412125 and range: 84.10 m.
2025-06-05T16:59:58.564Z,1749142798.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T16:59:58.567Z,1749142798.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 81.816803 m,
      bearing: 150.379570 deg,
      approach rate: -0.697339 m/s,
      LOS rate: 0.015383 deg/s,
      cmd heading: 162.349376 deg,
      new cmd heading: 162.367886 deg.

2025-06-05T16:59:58.568Z,1749142798.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833854 target range: 83.412125 and range: 84.10 m.
2025-06-05T16:59:58.901Z,1749142798.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T16:59:58.907Z,1749142798.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T16:59:58.914Z,1749142798.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 81.588020 m,
      bearing: 150.384251 deg,
      approach rate: -0.662921 m/s,
      LOS rate: 0.013603 deg/s,
      cmd heading: 162.367885 deg,
      new cmd heading: 162.381969 deg.

2025-06-05T16:59:58.917Z,1749142798.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834100 target range: 83.412125 and range: 84.10 m.
2025-06-05T16:59:59.069Z,1749142799.069 [DAT](INFO): ****** received valid address query ******
2025-06-05T16:59:59.069Z,1749142799.069 [DAT](INFO): ****** received valid ping request ******
2025-06-05T16:59:59.070Z,1749142799.070 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T16:59:59.319Z,1749142799.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752089
2025-06-05T16:59:59.329Z,1749142799.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T16:59:59.333Z,1749142799.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 81.290863 m,
      bearing: 150.390029 deg,
      approach rate: -0.704585 m/s,
      LOS rate: 0.013749 deg/s,
      cmd heading: 162.381969 deg,
      new cmd heading: 162.399365 deg.

2025-06-05T16:59:59.335Z,1749142799.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834404 target range: 83.412125 and range: 84.10 m.
2025-06-05T16:59:59.571Z,1749142799.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004319
2025-06-05T16:59:59.714Z,1749142799.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T16:59:59.717Z,1749142799.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 81.026367 m,
      bearing: 150.395058 deg,
      approach rate: -0.687733 m/s,
      LOS rate: 0.013120 deg/s,
      cmd heading: 162.399359 deg,
      new cmd heading: 162.414496 deg.

2025-06-05T16:59:59.717Z,1749142799.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834668 target range: 83.412125 and range: 84.10 m.
2025-06-05T16:59:59.824Z,1749142799.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256686
2025-06-05T17:00:00.079Z,1749142800.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510535
2025-06-05T17:00:00.158Z,1749142800.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:00.161Z,1749142800.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 80.722839 m,
      bearing: 150.398120 deg,
      approach rate: -0.689250 m/s,
      LOS rate: 0.006980 deg/s,
      cmd heading: 162.414495 deg,
      new cmd heading: 162.423716 deg.

2025-06-05T17:00:00.166Z,1749142800.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834829 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:00.327Z,1749142800.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760329
2025-06-05T17:00:00.506Z,1749142800.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:00.512Z,1749142800.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 80.481918 m,
      bearing: 150.400398 deg,
      approach rate: -0.716624 m/s,
      LOS rate: 0.006797 deg/s,
      cmd heading: 162.423715 deg,
      new cmd heading: 162.430570 deg.

2025-06-05T17:00:00.513Z,1749142800.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834948 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:00.579Z,1749142800.579 [DAT](INFO): DAT read: Rx Time:16:59:59.1236

2025-06-05T17:00:00.580Z,1749142800.580 [DAT](INFO): Rx dataTimestamp_ set to:1749142800.579608
2025-06-05T17:00:00.581Z,1749142800.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013818
2025-06-05T17:00:00.831Z,1749142800.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263978
2025-06-05T17:00:00.964Z,1749142800.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:00.971Z,1749142800.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:00.974Z,1749142800.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 80.158562 m,
      bearing: 150.403478 deg,
      approach rate: -0.672346 m/s,
      LOS rate: 0.006428 deg/s,
      cmd heading: 162.430573 deg,
      new cmd heading: 162.439847 deg.

2025-06-05T17:00:00.984Z,1749142800.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835110 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:01.109Z,1749142801.109 [DAT](INFO): DAT read: 16:59:59.1236 LVL= 25872, 29265, 20178, 32755, AGC= 69, IDX= 407, 0.19,-1.731,-2.896,-1.383,-1.994, PHS= 0.351,-0.855, 0.607, RAW= 159.4,  -1.5, CAL= 162.2,  -9.9, ROT= 347.8,   9.9

2025-06-05T17:00:01.111Z,1749142801.111 [DAT](INFO): got valid direction response:
 16:59:59.1236 LVL= 25872, 29265, 20178, 32755, AGC= 69, IDX= 407, 0.19,-1.731,-2.896,-1.383,-1.994, PHS= 0.351,-0.855, 0.607, RAW= 159.4,  -1.5, CAL= 162.2,  -9.9, ROT= 347.8,   9.9

2025-06-05T17:00:01.112Z,1749142801.112 [DAT](INFO): DAT read: $Error in header

2025-06-05T17:00:01.112Z,1749142801.112 [DAT](INFO): Received a bad header
2025-06-05T17:00:01.127Z,1749142801.127 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T17:00:01.128Z,1749142801.128 [DAT](INFO): direction in FSK: [0.962861,-0.208178,-0.171929]
2025-06-05T17:00:01.136Z,1749142801.136 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:01.136Z,1749142801.136 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:01.136Z,1749142801.136 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:01.335Z,1749142801.335 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:01.335Z,1749142801.335 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:01.335Z,1749142801.335 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:01.394Z,1749142801.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:01.397Z,1749142801.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 79.855408 m,
      bearing: 150.404739 deg,
      approach rate: -0.723993 m/s,
      LOS rate: 0.003025 deg/s,
      cmd heading: 162.439848 deg,
      new cmd heading: 162.443648 deg.

2025-06-05T17:00:01.402Z,1749142801.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835176 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:01.587Z,1749142801.587 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:01.587Z,1749142801.587 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:01.587Z,1749142801.587 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:01.839Z,1749142801.839 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:01.839Z,1749142801.839 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:01.839Z,1749142801.839 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:01.885Z,1749142801.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:01.892Z,1749142801.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 79.519081 m,
      bearing: 150.406036 deg,
      approach rate: -0.678862 m/s,
      LOS rate: 0.002628 deg/s,
      cmd heading: 162.443646 deg,
      new cmd heading: 162.447552 deg.

2025-06-05T17:00:01.893Z,1749142801.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835245 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:02.094Z,1749142802.094 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:02.095Z,1749142802.095 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:02.095Z,1749142802.095 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:02.213Z,1749142802.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:02.236Z,1749142802.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 79.268814 m,
      bearing: 150.401744 deg,
      approach rate: -0.763964 m/s,
      LOS rate: -0.013141 deg/s,
      cmd heading: 162.447553 deg,
      new cmd heading: 162.434638 deg.

2025-06-05T17:00:02.237Z,1749142802.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835019 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:02.343Z,1749142802.343 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:02.343Z,1749142802.343 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:02.343Z,1749142802.343 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:02.595Z,1749142802.595 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:02.595Z,1749142802.595 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:02.595Z,1749142802.595 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:02.605Z,1749142802.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:02.607Z,1749142802.607 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T17:00:02.619Z,1749142802.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 79.003891 m,
      bearing: 150.397148 deg,
      approach rate: -0.676183 m/s,
      LOS rate: -0.011772 deg/s,
      cmd heading: 162.434644 deg,
      new cmd heading: 162.420807 deg.

2025-06-05T17:00:02.620Z,1749142802.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834778 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:02.847Z,1749142802.847 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:02.847Z,1749142802.847 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:02.848Z,1749142802.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:03.021Z,1749142803.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:03.023Z,1749142803.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:03.046Z,1749142803.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 78.704865 m,
      bearing: 150.391989 deg,
      approach rate: -0.714098 m/s,
      LOS rate: -0.012367 deg/s,
      cmd heading: 162.420806 deg,
      new cmd heading: 162.405270 deg.

2025-06-05T17:00:03.047Z,1749142803.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834507 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:03.104Z,1749142803.104 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:03.105Z,1749142803.105 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:03.105Z,1749142803.105 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:03.355Z,1749142803.355 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:03.356Z,1749142803.356 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:03.356Z,1749142803.356 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:03.469Z,1749142803.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:03.472Z,1749142803.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 78.375679 m,
      bearing: 150.385308 deg,
      approach rate: -0.738946 m/s,
      LOS rate: -0.015060 deg/s,
      cmd heading: 162.405274 deg,
      new cmd heading: 162.385147 deg.

2025-06-05T17:00:03.473Z,1749142803.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834156 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:03.607Z,1749142803.607 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:03.607Z,1749142803.607 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:03.607Z,1749142803.607 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:03.839Z,1749142803.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:03.841Z,1749142803.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 78.110466 m,
      bearing: 150.380073 deg,
      approach rate: -0.717733 m/s,
      LOS rate: -0.014214 deg/s,
      cmd heading: 162.385152 deg,
      new cmd heading: 162.369395 deg.

2025-06-05T17:00:03.859Z,1749142803.859 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:03.859Z,1749142803.859 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:03.859Z,1749142803.859 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:03.860Z,1749142803.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833881 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:04.116Z,1749142804.116 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:04.117Z,1749142804.117 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:04.117Z,1749142804.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:04.263Z,1749142804.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:04.267Z,1749142804.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 77.806839 m,
      bearing: 150.374146 deg,
      approach rate: -0.716277 m/s,
      LOS rate: -0.014037 deg/s,
      cmd heading: 162.369402 deg,
      new cmd heading: 162.351551 deg.

2025-06-05T17:00:04.268Z,1749142804.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833569 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:04.364Z,1749142804.364 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:04.364Z,1749142804.364 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:04.364Z,1749142804.364 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:04.616Z,1749142804.616 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:04.616Z,1749142804.616 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:04.617Z,1749142804.617 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:04.653Z,1749142804.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:04.660Z,1749142804.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 77.531502 m,
      bearing: 150.368968 deg,
      approach rate: -0.704441 m/s,
      LOS rate: -0.013295 deg/s,
      cmd heading: 162.351548 deg,
      new cmd heading: 162.335958 deg.

2025-06-05T17:00:04.661Z,1749142804.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833297 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:04.868Z,1749142804.868 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:04.868Z,1749142804.868 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:04.868Z,1749142804.868 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:05.035Z,1749142805.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:05.037Z,1749142805.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:05.044Z,1749142805.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 77.254822 m,
      bearing: 150.363965 deg,
      approach rate: -0.720755 m/s,
      LOS rate: -0.013080 deg/s,
      cmd heading: 162.335961 deg,
      new cmd heading: 162.320898 deg.

2025-06-05T17:00:05.045Z,1749142805.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833034 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:05.122Z,1749142805.122 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:05.123Z,1749142805.123 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:05.123Z,1749142805.123 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:05.371Z,1749142805.371 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:05.371Z,1749142805.371 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:05.371Z,1749142805.371 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:05.487Z,1749142805.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:05.490Z,1749142805.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 76.941765 m,
      bearing: 150.357835 deg,
      approach rate: -0.696814 m/s,
      LOS rate: -0.013700 deg/s,
      cmd heading: 162.320894 deg,
      new cmd heading: 162.302429 deg.

2025-06-05T17:00:05.491Z,1749142805.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832712 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:05.623Z,1749142805.623 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:05.623Z,1749142805.623 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:05.623Z,1749142805.623 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:05.868Z,1749142805.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:05.871Z,1749142805.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 76.675743 m,
      bearing: 150.352587 deg,
      approach rate: -0.696470 m/s,
      LOS rate: -0.013788 deg/s,
      cmd heading: 162.302425 deg,
      new cmd heading: 162.286626 deg.

2025-06-05T17:00:05.872Z,1749142805.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832436 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:05.875Z,1749142805.875 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:05.875Z,1749142805.875 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:05.875Z,1749142805.875 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:06.133Z,1749142806.133 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:06.133Z,1749142806.133 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:06.134Z,1749142806.134 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:06.309Z,1749142806.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:06.312Z,1749142806.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 76.372185 m,
      bearing: 150.354191 deg,
      approach rate: -0.688219 m/s,
      LOS rate: 0.003650 deg/s,
      cmd heading: 162.286620 deg,
      new cmd heading: 162.291449 deg.

2025-06-05T17:00:06.313Z,1749142806.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832520 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:06.383Z,1749142806.383 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:06.384Z,1749142806.384 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:06.384Z,1749142806.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:06.635Z,1749142806.635 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:06.635Z,1749142806.635 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:06.635Z,1749142806.635 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:06.651Z,1749142806.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:06.654Z,1749142806.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 76.132904 m,
      bearing: 150.356085 deg,
      approach rate: -0.700235 m/s,
      LOS rate: 0.005561 deg/s,
      cmd heading: 162.291456 deg,
      new cmd heading: 162.297156 deg.

2025-06-05T17:00:06.655Z,1749142806.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832620 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:06.887Z,1749142806.887 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:06.887Z,1749142806.887 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:06.887Z,1749142806.887 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:07.069Z,1749142807.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:07.072Z,1749142807.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:07.077Z,1749142807.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 75.841591 m,
      bearing: 150.358702 deg,
      approach rate: -0.692813 m/s,
      LOS rate: 0.006247 deg/s,
      cmd heading: 162.297152 deg,
      new cmd heading: 162.305033 deg.

2025-06-05T17:00:07.095Z,1749142807.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832757 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:07.143Z,1749142807.143 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:07.144Z,1749142807.144 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:07.144Z,1749142807.144 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:07.392Z,1749142807.392 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:07.392Z,1749142807.392 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:07.392Z,1749142807.392 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T17:00:07.504Z,1749142807.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:07.507Z,1749142807.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 75.541855 m,
      bearing: 150.363481 deg,
      approach rate: -0.692684 m/s,
      LOS rate: 0.011089 deg/s,
      cmd heading: 162.305034 deg,
      new cmd heading: 162.319429 deg.

2025-06-05T17:00:07.508Z,1749142807.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833009 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:07.643Z,1749142807.643 [DAT](INFO): Reached modem response timeout
2025-06-05T17:00:07.643Z,1749142807.643 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:00:07.643Z,1749142807.643 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:07.895Z,1749142807.895 [DAT](INFO): Reached modem response timeout
2025-06-05T17:00:07.895Z,1749142807.895 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:00:07.895Z,1749142807.895 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:07.911Z,1749142807.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:07.918Z,1749142807.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 75.272636 m,
      bearing: 150.367873 deg,
      approach rate: -0.661272 m/s,
      LOS rate: 0.010826 deg/s,
      cmd heading: 162.319432 deg,
      new cmd heading: 162.332654 deg.

2025-06-05T17:00:07.919Z,1749142807.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833239 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:08.149Z,1749142808.149 [DAT](INFO): Reached modem response timeout
2025-06-05T17:00:08.150Z,1749142808.150 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:00:08.151Z,1749142808.151 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:08.352Z,1749142808.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:08.355Z,1749142808.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 74.953117 m,
      bearing: 150.382294 deg,
      approach rate: -0.725002 m/s,
      LOS rate: 0.032862 deg/s,
      cmd heading: 162.332655 deg,
      new cmd heading: 162.376103 deg.

2025-06-05T17:00:08.356Z,1749142808.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833998 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:08.401Z,1749142808.401 [DAT](INFO): DAT read: Response Not Received

2025-06-05T17:00:08.401Z,1749142808.401 [DAT](INFO): response not received
2025-06-05T17:00:08.401Z,1749142808.401 [DAT](INFO): DAT read: user:2522>

2025-06-05T17:00:08.404Z,1749142808.404 [DAT](INFO): DAT read: Tx time:17:00:07.5607

2025-06-05T17:00:08.405Z,1749142808.405 [DAT](INFO): Ping request sent.
2025-06-05T17:00:08.405Z,1749142808.405 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:08.405Z,1749142808.405 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:08.407Z,1749142808.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001961
2025-06-05T17:00:08.651Z,1749142808.651 [DAT](INFO): DAT read: TxSync time:17:00:07.5599

2025-06-05T17:00:08.652Z,1749142808.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247319
2025-06-05T17:00:08.712Z,1749142808.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:08.719Z,1749142808.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 74.718201 m,
      bearing: 150.393082 deg,
      approach rate: -0.651969 m/s,
      LOS rate: 0.030036 deg/s,
      cmd heading: 162.376109 deg,
      new cmd heading: 162.408576 deg.

2025-06-05T17:00:08.720Z,1749142808.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834564 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:08.903Z,1749142808.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498720
2025-06-05T17:00:09.094Z,1749142809.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:09.096Z,1749142809.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:09.101Z,1749142809.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 74.433090 m,
      bearing: 150.406130 deg,
      approach rate: -0.742452 m/s,
      LOS rate: 0.034109 deg/s,
      cmd heading: 162.408580 deg,
      new cmd heading: 162.447874 deg.

2025-06-05T17:00:09.102Z,1749142809.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835250 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:09.156Z,1749142809.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751276
2025-06-05T17:00:09.407Z,1749142809.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002438
2025-06-05T17:00:09.517Z,1749142809.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:09.542Z,1749142809.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 74.148842 m,
      bearing: 150.418232 deg,
      approach rate: -0.675152 m/s,
      LOS rate: 0.028853 deg/s,
      cmd heading: 162.447881 deg,
      new cmd heading: 162.484323 deg.

2025-06-05T17:00:09.544Z,1749142809.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835886 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:09.661Z,1749142809.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255963
2025-06-05T17:00:09.913Z,1749142809.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507578
2025-06-05T17:00:09.927Z,1749142809.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:09.930Z,1749142809.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 73.870796 m,
      bearing: 150.429305 deg,
      approach rate: -0.679008 m/s,
      LOS rate: 0.027145 deg/s,
      cmd heading: 162.484326 deg,
      new cmd heading: 162.517673 deg.

2025-06-05T17:00:09.931Z,1749142809.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.836468 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:10.166Z,1749142810.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760656
2025-06-05T17:00:10.325Z,1749142810.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:10.349Z,1749142810.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 73.602509 m,
      bearing: 150.442063 deg,
      approach rate: -0.673712 m/s,
      LOS rate: 0.032153 deg/s,
      cmd heading: 162.517671 deg,
      new cmd heading: 162.556083 deg.

2025-06-05T17:00:10.355Z,1749142810.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.837139 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:10.417Z,1749142810.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011970
2025-06-05T17:00:10.668Z,1749142810.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263051
2025-06-05T17:00:10.713Z,1749142810.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:10.718Z,1749142810.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 73.340706 m,
      bearing: 150.454416 deg,
      approach rate: -0.674720 m/s,
      LOS rate: 0.031949 deg/s,
      cmd heading: 162.556084 deg,
      new cmd heading: 162.593275 deg.

2025-06-05T17:00:10.719Z,1749142810.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.837788 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:10.925Z,1749142810.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519931
2025-06-05T17:00:11.174Z,1749142811.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768425
2025-06-05T17:00:11.219Z,1749142811.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:11.260Z,1749142811.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:11.271Z,1749142811.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 73.031586 m,
      bearing: 150.469089 deg,
      approach rate: -0.575400 m/s,
      LOS rate: 0.027429 deg/s,
      cmd heading: 162.593282 deg,
      new cmd heading: 162.637488 deg.

2025-06-05T17:00:11.272Z,1749142811.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838560 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:11.423Z,1749142811.423 [DAT](INFO): DAT read: Rx Time:17:00:10.0635

2025-06-05T17:00:11.424Z,1749142811.424 [DAT](INFO): Rx dataTimestamp_ set to:1749142811.423456
2025-06-05T17:00:11.424Z,1749142811.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019659
2025-06-05T17:00:11.675Z,1749142811.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270672
2025-06-05T17:00:11.685Z,1749142811.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.41 m.
2025-06-05T17:00:11.717Z,1749142811.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.412125 m,
      nav range: 72.692047 m,
      bearing: 150.479890 deg,
      approach rate: -0.781409 m/s,
      LOS rate: 0.024973 deg/s,
      cmd heading: 162.637487 deg,
      new cmd heading: 162.670041 deg.

2025-06-05T17:00:11.732Z,1749142811.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839128 target range: 83.412125 and range: 84.10 m.
2025-06-05T17:00:11.944Z,1749142811.944 [DAT](INFO): DAT read: 17:00:10.0635 LVL= 22448, 25425, 16962, 25075, AGC= 68, IDX= 334, 0.11,-1.545,-2.789,-1.152,-1.850, PHS= 0.393,-0.892, 0.695, RAW= 160.3,  -2.7, CAL= 163.3, -10.9, ROT= 346.7,  10.9

2025-06-05T17:00:11.946Z,1749142811.946 [DAT](INFO): got valid direction response:
 17:00:10.0635 LVL= 22448, 25425, 16962, 25075, AGC= 68, IDX= 334, 0.11,-1.545,-2.789,-1.152,-1.850, PHS= 0.393,-0.892, 0.695, RAW= 160.3,  -2.7, CAL= 163.3, -10.9, ROT= 346.7,  10.9

2025-06-05T17:00:11.964Z,1749142811.964 [DAT](INFO): DAT read: Bearing 346.7,  10.9 (Local)

2025-06-05T17:00:11.965Z,1749142811.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,  10.9 (Local)

2025-06-05T17:00:11.988Z,1749142811.988 [DAT](INFO): DAT read: Range 10 to 50 : 73.9 m  (Round-trip  98.6 ms) speed  0.6 m/s

2025-06-05T17:00:11.989Z,1749142811.989 [DAT](INFO): DAT read: user:2523>

2025-06-05T17:00:12.022Z,1749142812.022 [DAT](INFO): DAT read: Tx time:17:00:11.1608

2025-06-05T17:00:12.023Z,1749142812.023 [DAT](INFO): Ping request sent.
2025-06-05T17:00:12.023Z,1749142812.023 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:12.023Z,1749142812.023 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:00:12.024Z,1749142812.024 [DAT](INFO): direction in FSK: [0.955622,-0.225899,-0.189095]
2025-06-05T17:00:12.024Z,1749142812.024 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:12.025Z,1749142812.025 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:12.048Z,1749142812.048 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:12.049Z,1749142812.049 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:12.179Z,1749142812.179 [DAT](INFO): DAT read: TxSync time:17:00:11.1600

2025-06-05T17:00:12.508Z,1749142812.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.900002 m,
      deltaT: 14.372962 s,
      deltaX: -10.199997 m,
      approachRate: -0.709666 m/s,
      rangeRepo size: 4

2025-06-05T17:00:12.520Z,1749142812.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.295868 m,
      bearing: 149.770423 deg,
      lat: 36.906279 deg,
      lon: -122.115895 deg,
      deltaT: 14.372962 s,
      deltaX: -10.116257 m,
      approachRate: -0.703839 m/s,
      posRepo size: 4

2025-06-05T17:00:12.521Z,1749142812.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.30 m.
2025-06-05T17:00:12.543Z,1749142812.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.295868 m,
      nav range: 72.152893 m,
      bearing: 150.494977 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024973 deg/s,
      cmd heading: 162.670039 deg,
      new cmd heading: 162.731655 deg.

2025-06-05T17:00:12.545Z,1749142812.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840203 target range: 73.295868 and range: 73.90 m.
2025-06-05T17:00:12.827Z,1749142812.827 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:00:12.937Z,1749142812.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.30 m.
2025-06-05T17:00:12.960Z,1749142812.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.295868 m,
      nav range: 71.853355 m,
      bearing: 150.503325 deg,
      approach rate: -0.696658 m/s,
      LOS rate: 0.019498 deg/s,
      cmd heading: 162.731661 deg,
      new cmd heading: 162.756812 deg.

2025-06-05T17:00:12.970Z,1749142812.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840642 target range: 73.295868 and range: 73.90 m.
2025-06-05T17:00:13.479Z,1749142813.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:13.481Z,1749142813.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.30 m.
2025-06-05T17:00:13.504Z,1749142813.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.295868 m,
      nav range: 71.480118 m,
      bearing: 150.507459 deg,
      approach rate: -0.686828 m/s,
      LOS rate: 0.007647 deg/s,
      cmd heading: 162.756810 deg,
      new cmd heading: 162.769277 deg.

2025-06-05T17:00:13.505Z,1749142813.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840860 target range: 73.295868 and range: 73.90 m.
2025-06-05T17:00:13.691Z,1749142813.691 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:13.691Z,1749142813.691 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:13.691Z,1749142813.691 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:13.840Z,1749142813.840 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:00:13.901Z,1749142813.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.30 m.
2025-06-05T17:00:13.909Z,1749142813.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.295868 m,
      nav range: 71.183975 m,
      bearing: 150.509871 deg,
      approach rate: -0.705777 m/s,
      LOS rate: 0.005771 deg/s,
      cmd heading: 162.769282 deg,
      new cmd heading: 162.776546 deg.

2025-06-05T17:00:13.915Z,1749142813.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840987 target range: 73.295868 and range: 73.90 m.
2025-06-05T17:00:13.943Z,1749142813.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.920449
2025-06-05T17:00:14.207Z,1749142814.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184052
2025-06-05T17:00:14.433Z,1749142814.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.30 m.
2025-06-05T17:00:14.440Z,1749142814.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.295868 m,
      nav range: 70.828377 m,
      bearing: 150.508110 deg,
      approach rate: -0.669090 m/s,
      LOS rate: -0.003329 deg/s,
      cmd heading: 162.776549 deg,
      new cmd heading: 162.771241 deg.

2025-06-05T17:00:14.441Z,1749142814.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840894 target range: 73.295868 and range: 73.90 m.
2025-06-05T17:00:14.459Z,1749142814.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.436667
2025-06-05T17:00:14.711Z,1749142814.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.688729
2025-06-05T17:00:14.817Z,1749142814.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.30 m.
2025-06-05T17:00:14.824Z,1749142814.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.295868 m,
      nav range: 70.551262 m,
      bearing: 150.506726 deg,
      approach rate: -0.718709 m/s,
      LOS rate: -0.003604 deg/s,
      cmd heading: 162.771235 deg,
      new cmd heading: 162.767066 deg.

2025-06-05T17:00:14.825Z,1749142814.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840821 target range: 73.295868 and range: 73.90 m.
2025-06-05T17:00:14.964Z,1749142814.964 [DAT](INFO): DAT read: Rx Time:17:00:13.6603

2025-06-05T17:00:14.965Z,1749142814.965 [DAT](INFO): Rx dataTimestamp_ set to:1749142814.964564
2025-06-05T17:00:14.965Z,1749142814.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.942685
2025-06-05T17:00:15.213Z,1749142815.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.30 m.
2025-06-05T17:00:15.217Z,1749142815.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.193620
2025-06-05T17:00:15.224Z,1749142815.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.295868 m,
      nav range: 70.279976 m,
      bearing: 150.505554 deg,
      approach rate: -0.686307 m/s,
      LOS rate: -0.002976 deg/s,
      cmd heading: 162.767069 deg,
      new cmd heading: 162.763540 deg.

2025-06-05T17:00:15.225Z,1749142815.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840760 target range: 73.295868 and range: 73.90 m.
2025-06-05T17:00:15.492Z,1749142815.492 [DAT](INFO): DAT read: 17:00:13.6603 LVL= 20144, 25585, 14354, 29635, AGC= 66, IDX= 412, 0.48, 1.328, 0.179, 1.738, 1.073, PHS= 0.343,-0.847, 0.662, RAW= 161.6,  -2.3, CAL= 164.3, -10.5, ROT= 345.7,  10.5

2025-06-05T17:00:15.493Z,1749142815.493 [DAT](INFO): got valid direction response:
 17:00:13.6603 LVL= 20144, 25585, 14354, 29635, AGC= 66, IDX= 412, 0.48, 1.328, 0.179, 1.738, 1.073, PHS= 0.343,-0.847, 0.662, RAW= 161.6,  -2.3, CAL= 164.3, -10.5, ROT= 345.7,  10.5

2025-06-05T17:00:15.494Z,1749142815.494 [DAT](INFO): DAT read: Bearing 345.7,  10.5 (Local)

2025-06-05T17:00:15.495Z,1749142815.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.7,  10.5 (Local)

2025-06-05T17:00:15.496Z,1749142815.496 [DAT](INFO): DAT read: Range 10 to 50 : 71.5 m  (Round-trip  95.4 ms) speed  0.8 m/s

2025-06-05T17:00:15.497Z,1749142815.497 [DAT](INFO): DAT read: user:2524>

2025-06-05T17:00:15.498Z,1749142815.498 [DAT](INFO): DAT read: Tx time:17:00:14.7608

2025-06-05T17:00:15.498Z,1749142815.498 [DAT](INFO): Ping request sent.
2025-06-05T17:00:15.503Z,1749142815.503 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:15.504Z,1749142815.504 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:00:15.505Z,1749142815.505 [DAT](INFO): direction in FSK: [0.952790,-0.242863,-0.182236]
2025-06-05T17:00:15.510Z,1749142815.510 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:15.511Z,1749142815.511 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:15.525Z,1749142815.525 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:15.525Z,1749142815.525 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:15.723Z,1749142815.723 [DAT](INFO): DAT read: TxSync time:17:00:14.7600

2025-06-05T17:00:15.908Z,1749142815.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.500000 m,
      deltaT: 3.541938 s,
      deltaX: -2.400002 m,
      approachRate: -0.677596 m/s,
      rangeRepo size: 4

2025-06-05T17:00:15.919Z,1749142815.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.915482 m,
      bearing: 148.866911 deg,
      lat: 36.906284 deg,
      lon: -122.115895 deg,
      deltaT: 3.541938 s,
      deltaX: -2.380386 m,
      approachRate: -0.672058 m/s,
      posRepo size: 4

2025-06-05T17:00:15.919Z,1749142815.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:15.934Z,1749142815.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 69.347168 m,
      bearing: 150.277005 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002976 deg/s,
      cmd heading: 162.763545 deg,
      new cmd heading: 162.757342 deg.

2025-06-05T17:00:15.946Z,1749142815.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840652 target range: 70.915482 and range: 71.50 m.
2025-06-05T17:00:16.560Z,1749142816.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:16.571Z,1749142816.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:16.574Z,1749142816.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 68.894745 m,
      bearing: 150.264998 deg,
      approach rate: -0.681935 m/s,
      LOS rate: -0.018218 deg/s,
      cmd heading: 162.757343 deg,
      new cmd heading: 162.721084 deg.

2025-06-05T17:00:16.584Z,1749142816.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840019 target range: 70.915482 and range: 71.50 m.
2025-06-05T17:00:16.731Z,1749142816.731 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:16.731Z,1749142816.731 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:16.732Z,1749142816.732 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:16.984Z,1749142816.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486400
2025-06-05T17:00:17.111Z,1749142817.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:17.113Z,1749142817.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 68.491478 m,
      bearing: 150.254161 deg,
      approach rate: -0.753293 m/s,
      LOS rate: -0.020362 deg/s,
      cmd heading: 162.721088 deg,
      new cmd heading: 162.688387 deg.

2025-06-05T17:00:17.119Z,1749142817.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839448 target range: 70.915482 and range: 71.50 m.
2025-06-05T17:00:17.236Z,1749142817.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737468
2025-06-05T17:00:17.487Z,1749142817.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989219
2025-06-05T17:00:17.566Z,1749142817.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:17.573Z,1749142817.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 68.208366 m,
      bearing: 150.248460 deg,
      approach rate: -0.617021 m/s,
      LOS rate: -0.012476 deg/s,
      cmd heading: 162.688385 deg,
      new cmd heading: 162.671211 deg.

2025-06-05T17:00:17.579Z,1749142817.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839148 target range: 70.915482 and range: 71.50 m.
2025-06-05T17:00:17.740Z,1749142817.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241571
2025-06-05T17:00:17.915Z,1749142817.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:17.940Z,1749142817.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 67.926231 m,
      bearing: 150.242815 deg,
      approach rate: -0.806609 m/s,
      LOS rate: -0.016207 deg/s,
      cmd heading: 162.671214 deg,
      new cmd heading: 162.654207 deg.

2025-06-05T17:00:17.941Z,1749142817.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838851 target range: 70.915482 and range: 71.50 m.
2025-06-05T17:00:17.992Z,1749142817.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493700
2025-06-05T17:00:18.243Z,1749142818.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745187
2025-06-05T17:00:18.430Z,1749142818.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:18.441Z,1749142818.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 67.590881 m,
      bearing: 150.235822 deg,
      approach rate: -0.651417 m/s,
      LOS rate: -0.013651 deg/s,
      cmd heading: 162.654207 deg,
      new cmd heading: 162.633124 deg.

2025-06-05T17:00:18.442Z,1749142818.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838484 target range: 70.915482 and range: 71.50 m.
2025-06-05T17:00:18.495Z,1749142818.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997419
2025-06-05T17:00:18.747Z,1749142818.747 [DAT](INFO): DAT read: Rx Time:17:00:17.2569

2025-06-05T17:00:18.748Z,1749142818.748 [DAT](INFO): Rx dataTimestamp_ set to:1749142818.747541
2025-06-05T17:00:18.750Z,1749142818.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251421
2025-06-05T17:00:18.847Z,1749142818.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:18.855Z,1749142818.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:18.858Z,1749142818.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 67.266891 m,
      bearing: 150.228855 deg,
      approach rate: -0.761655 m/s,
      LOS rate: -0.016456 deg/s,
      cmd heading: 162.633129 deg,
      new cmd heading: 162.612129 deg.

2025-06-05T17:00:18.883Z,1749142818.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838117 target range: 70.915482 and range: 71.50 m.
2025-06-05T17:00:18.999Z,1749142818.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501416
2025-06-05T17:00:19.257Z,1749142819.257 [DAT](INFO): DAT read: 17:00:17.2569 LVL= 24304, 26033, 18658, 27635, AGC= 66, IDX= 410,-0.34, 0.398,-0.771, 0.793, 0.137, PHS= 0.349,-0.860, 0.654, RAW= 161.0,  -2.1, CAL= 163.7, -10.3, ROT= 346.3,  10.3

2025-06-05T17:00:19.258Z,1749142819.258 [DAT](INFO): got valid direction response:
 17:00:17.2569 LVL= 24304, 26033, 18658, 27635, AGC= 66, IDX= 410,-0.34, 0.398,-0.771, 0.793, 0.137, PHS= 0.349,-0.860, 0.654, RAW= 161.0,  -2.1, CAL= 163.7, -10.3, ROT= 346.3,  10.3

2025-06-05T17:00:19.259Z,1749142819.259 [DAT](INFO): DAT read: Bearing 346.3,  10.3 (Local)

2025-06-05T17:00:19.259Z,1749142819.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.3,  10.3 (Local)

2025-06-05T17:00:19.261Z,1749142819.261 [DAT](INFO): DAT read: Range 10 to 50 : 68.9 m  (Round-trip  91.9 ms) speed  0.9 m/s

2025-06-05T17:00:19.261Z,1749142819.261 [DAT](INFO): DAT read: user:2525>

2025-06-05T17:00:19.262Z,1749142819.262 [DAT](INFO): DAT read: Tx time:17:00:18.3608

2025-06-05T17:00:19.263Z,1749142819.263 [DAT](INFO): Ping request sent.
2025-06-05T17:00:19.263Z,1749142819.263 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:19.263Z,1749142819.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:00:19.264Z,1749142819.264 [DAT](INFO): direction in FSK: [0.955893,-0.233022,-0.178802]
2025-06-05T17:00:19.264Z,1749142819.264 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:19.264Z,1749142819.264 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:19.279Z,1749142819.279 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:19.279Z,1749142819.279 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:19.293Z,1749142819.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.900002 m,
      deltaT: 3.781417 s,
      deltaX: -2.599998 m,
      approachRate: -0.687573 m/s,
      rangeRepo size: 4

2025-06-05T17:00:19.303Z,1749142819.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:19.305Z,1749142819.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 66.988243 m,
      bearing: 150.222321 deg,
      approach rate: -0.666870 m/s,
      LOS rate: -0.015702 deg/s,
      cmd heading: 162.612133 deg,
      new cmd heading: 162.592450 deg.

2025-06-05T17:00:19.325Z,1749142819.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.837774 target range: 70.915482 and range: 68.90 m.
2025-06-05T17:00:19.504Z,1749142819.504 [DAT](INFO): DAT read: TxSync time:17:00:18.3600

2025-06-05T17:00:19.893Z,1749142819.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:19.904Z,1749142819.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 66.558075 m,
      bearing: 150.222868 deg,
      approach rate: -0.693266 m/s,
      LOS rate: 0.000886 deg/s,
      cmd heading: 162.592448 deg,
      new cmd heading: 162.594098 deg.

2025-06-05T17:00:19.905Z,1749142819.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.837802 target range: 70.915482 and range: 68.90 m.
2025-06-05T17:00:20.267Z,1749142820.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:20.278Z,1749142820.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 66.286926 m,
      bearing: 150.222929 deg,
      approach rate: -0.742767 m/s,
      LOS rate: 0.000169 deg/s,
      cmd heading: 162.594101 deg,
      new cmd heading: 162.594286 deg.

2025-06-05T17:00:20.279Z,1749142820.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.837806 target range: 70.915482 and range: 68.90 m.
2025-06-05T17:00:20.696Z,1749142820.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:20.703Z,1749142820.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 65.981583 m,
      bearing: 150.226985 deg,
      approach rate: -0.698656 m/s,
      LOS rate: 0.009322 deg/s,
      cmd heading: 162.594292 deg,
      new cmd heading: 162.606514 deg.

2025-06-05T17:00:20.704Z,1749142820.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838019 target range: 70.915482 and range: 68.90 m.
2025-06-05T17:00:21.061Z,1749142821.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:21.067Z,1749142821.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:21.085Z,1749142821.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 65.723343 m,
      bearing: 150.229584 deg,
      approach rate: -0.694239 m/s,
      LOS rate: 0.007017 deg/s,
      cmd heading: 162.606518 deg,
      new cmd heading: 162.614349 deg.

2025-06-05T17:00:21.093Z,1749142821.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838156 target range: 70.915482 and range: 68.90 m.
2025-06-05T17:00:21.267Z,1749142821.267 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:21.267Z,1749142821.267 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:21.268Z,1749142821.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:21.521Z,1749142821.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257422
2025-06-05T17:00:21.579Z,1749142821.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:21.591Z,1749142821.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 65.390831 m,
      bearing: 150.233791 deg,
      approach rate: -0.649460 m/s,
      LOS rate: 0.008259 deg/s,
      cmd heading: 162.614346 deg,
      new cmd heading: 162.627031 deg.

2025-06-05T17:00:21.592Z,1749142821.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838377 target range: 70.915482 and range: 68.90 m.
2025-06-05T17:00:21.771Z,1749142821.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508683
2025-06-05T17:00:21.868Z,1749142821.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:21.884Z,1749142821.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 65.178391 m,
      bearing: 150.235294 deg,
      approach rate: -0.735195 m/s,
      LOS rate: 0.005218 deg/s,
      cmd heading: 162.627036 deg,
      new cmd heading: 162.631560 deg.

2025-06-05T17:00:21.885Z,1749142821.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838456 target range: 70.915482 and range: 68.90 m.
2025-06-05T17:00:22.024Z,1749142822.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761048
2025-06-05T17:00:22.275Z,1749142822.275 [DAT](INFO): DAT read: Rx Time:17:00:20.8537

2025-06-05T17:00:22.275Z,1749142822.276 [DAT](INFO): Rx dataTimestamp_ set to:1749142822.275220
2025-06-05T17:00:22.276Z,1749142822.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013304
2025-06-05T17:00:22.288Z,1749142822.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:22.300Z,1749142822.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 64.882790 m,
      bearing: 150.237048 deg,
      approach rate: -0.704785 m/s,
      LOS rate: 0.004200 deg/s,
      cmd heading: 162.631558 deg,
      new cmd heading: 162.636842 deg.

2025-06-05T17:00:22.302Z,1749142822.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838548 target range: 70.915482 and range: 68.90 m.
2025-06-05T17:00:22.534Z,1749142822.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271479
2025-06-05T17:00:22.776Z,1749142822.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m.
2025-06-05T17:00:22.793Z,1749142822.793 [DAT](INFO): DAT read: 17:00:20.8537 LVL= 31856, 25073, 21842, 28355, AGC= 67, IDX= 407, 0.47,-1.702,-2.875,-1.319,-1.974, PHS= 0.360,-0.854, 0.652, RAW= 160.5,  -2.3, CAL= 163.3, -10.5, ROT= 346.7,  10.5

2025-06-05T17:00:22.794Z,1749142822.794 [DAT](INFO): got valid direction response:
 17:00:20.8537 LVL= 31856, 25073, 21842, 28355, AGC= 67, IDX= 407, 0.47,-1.702,-2.875,-1.319,-1.974, PHS= 0.360,-0.854, 0.652, RAW= 160.5,  -2.3, CAL= 163.3, -10.5, ROT= 346.7,  10.5

2025-06-05T17:00:22.795Z,1749142822.795 [DAT](INFO): DAT read: Bearing 346.7,  10.5 (Local)

2025-06-05T17:00:22.796Z,1749142822.796 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,  10.5 (Local)

2025-06-05T17:00:22.797Z,1749142822.797 [DAT](INFO): DAT read: Range 10 to 50 : 66.4 m  (Round-trip  88.6 ms) speed  0.5 m/s

2025-06-05T17:00:22.798Z,1749142822.798 [DAT](INFO): DAT read: user:2526>

2025-06-05T17:00:22.800Z,1749142822.800 [DAT](INFO): DAT read: Tx time:17:00:21.9609

2025-06-05T17:00:22.800Z,1749142822.800 [DAT](INFO): Ping request sent.
2025-06-05T17:00:22.800Z,1749142822.800 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:22.800Z,1749142822.800 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:00:22.801Z,1749142822.801 [DAT](INFO): direction in FSK: [0.956883,-0.226197,-0.182236]
2025-06-05T17:00:22.802Z,1749142822.802 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:22.802Z,1749142822.802 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:22.805Z,1749142822.805 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:22.805Z,1749142822.805 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:22.807Z,1749142822.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.915482 m,
      nav range: 64.549492 m,
      bearing: 150.237571 deg,
      approach rate: -0.682446 m/s,
      LOS rate: 0.001077 deg/s,
      cmd heading: 162.636845 deg,
      new cmd heading: 162.638423 deg.

2025-06-05T17:00:22.808Z,1749142822.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838576 target range: 70.915482 and range: 68.90 m.
2025-06-05T17:00:23.039Z,1749142823.039 [DAT](INFO): DAT read: TxSync time:17:00:21.9601

2025-06-05T17:00:23.269Z,1749142823.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.400002 m,
      deltaT: 3.536050 s,
      deltaX: -2.500000 m,
      approachRate: -0.707004 m/s,
      rangeRepo size: 4

2025-06-05T17:00:23.284Z,1749142823.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.856728 m,
      bearing: 150.964082 deg,
      lat: 36.906279 deg,
      lon: -122.115887 deg,
      deltaT: 7.317467 s,
      deltaX: -5.058754 m,
      approachRate: -0.691326 m/s,
      posRepo size: 4

2025-06-05T17:00:23.285Z,1749142823.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.86 m.
2025-06-05T17:00:23.301Z,1749142823.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.856728 m,
      nav range: 65.046638 m,
      bearing: 149.918225 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001077 deg/s,
      cmd heading: 162.638429 deg,
      new cmd heading: 162.640021 deg.

2025-06-05T17:00:23.311Z,1749142823.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838604 target range: 65.856728 and range: 66.40 m.
2025-06-05T17:00:23.840Z,1749142823.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:23.851Z,1749142823.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.86 m.
2025-06-05T17:00:23.854Z,1749142823.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.856728 m,
      nav range: 64.647049 m,
      bearing: 149.917576 deg,
      approach rate: -0.697006 m/s,
      LOS rate: -0.001140 deg/s,
      cmd heading: 162.640027 deg,
      new cmd heading: 162.638067 deg.

2025-06-05T17:00:23.863Z,1749142823.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838570 target range: 65.856728 and range: 66.40 m.
2025-06-05T17:00:24.047Z,1749142824.047 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:24.047Z,1749142824.047 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:24.047Z,1749142824.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:24.205Z,1749142824.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.86 m.
2025-06-05T17:00:24.217Z,1749142824.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.856728 m,
      nav range: 64.392448 m,
      bearing: 149.917626 deg,
      approach rate: -0.701717 m/s,
      LOS rate: 0.000139 deg/s,
      cmd heading: 162.638060 deg,
      new cmd heading: 162.638212 deg.

2025-06-05T17:00:24.227Z,1749142824.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838572 target range: 65.856728 and range: 66.40 m.
2025-06-05T17:00:24.303Z,1749142824.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502273
2025-06-05T17:00:24.552Z,1749142824.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751925
2025-06-05T17:00:24.676Z,1749142824.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.86 m.
2025-06-05T17:00:24.688Z,1749142824.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.856728 m,
      nav range: 64.066490 m,
      bearing: 149.919940 deg,
      approach rate: -0.691430 m/s,
      LOS rate: 0.004934 deg/s,
      cmd heading: 162.638211 deg,
      new cmd heading: 162.645188 deg.

2025-06-05T17:00:24.689Z,1749142824.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838694 target range: 65.856728 and range: 66.40 m.
2025-06-05T17:00:24.803Z,1749142824.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003101
2025-06-05T17:00:25.055Z,1749142825.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255217
2025-06-05T17:00:25.065Z,1749142825.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.86 m.
2025-06-05T17:00:25.072Z,1749142825.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.856728 m,
      nav range: 63.801201 m,
      bearing: 149.921841 deg,
      approach rate: -0.683073 m/s,
      LOS rate: 0.004915 deg/s,
      cmd heading: 162.645191 deg,
      new cmd heading: 162.650917 deg.

2025-06-05T17:00:25.073Z,1749142825.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838794 target range: 65.856728 and range: 66.40 m.
2025-06-05T17:00:25.307Z,1749142825.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507088
2025-06-05T17:00:25.559Z,1749142825.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759238
2025-06-05T17:00:25.612Z,1749142825.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.86 m.
2025-06-05T17:00:25.620Z,1749142825.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.856728 m,
      nav range: 63.405884 m,
      bearing: 149.919513 deg,
      approach rate: -0.721874 m/s,
      LOS rate: -0.004278 deg/s,
      cmd heading: 162.650915 deg,
      new cmd heading: 162.643886 deg.

2025-06-05T17:00:25.621Z,1749142825.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838671 target range: 65.856728 and range: 66.40 m.
2025-06-05T17:00:25.811Z,1749142825.811 [DAT](INFO): DAT read: Rx Time:17:00:24.4502

2025-06-05T17:00:25.812Z,1749142825.812 [DAT](INFO): Rx dataTimestamp_ set to:1749142825.811447
2025-06-05T17:00:25.812Z,1749142825.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012054
2025-06-05T17:00:26.064Z,1749142826.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263501
2025-06-05T17:00:26.169Z,1749142826.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:26.196Z,1749142826.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.86 m.
2025-06-05T17:00:26.214Z,1749142826.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.856728 m,
      nav range: 63.032555 m,
      bearing: 149.918654 deg,
      approach rate: -0.639162 m/s,
      LOS rate: -0.001479 deg/s,
      cmd heading: 162.643880 deg,
      new cmd heading: 162.641288 deg.

2025-06-05T17:00:26.247Z,1749142826.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838626 target range: 65.856728 and range: 66.40 m.
2025-06-05T17:00:26.322Z,1749142826.322 [DAT](INFO): DAT read: 17:00:24.4502 LVL= 26784, 26065, 19314, 28563, AGC= 68, IDX= 405,-0.27,-2.916, 2.172,-2.540, 3.062, PHS= 0.393,-0.843, 0.678, RAW= 160.2,  -3.3, CAL= 163.3, -11.3, ROT= 346.7,  11.3

2025-06-05T17:00:26.323Z,1749142826.323 [DAT](INFO): got valid direction response:
 17:00:24.4502 LVL= 26784, 26065, 19314, 28563, AGC= 68, IDX= 405,-0.27,-2.916, 2.172,-2.540, 3.062, PHS= 0.393,-0.843, 0.678, RAW= 160.2,  -3.3, CAL= 163.3, -11.3, ROT= 346.7,  11.3

2025-06-05T17:00:26.324Z,1749142826.324 [DAT](INFO): DAT read: Bearing 346.7,  11.3 (Local)

2025-06-05T17:00:26.325Z,1749142826.325 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,  11.3 (Local)

2025-06-05T17:00:26.326Z,1749142826.326 [DAT](INFO): DAT read: Range 10 to 50 : 63.9 m  (Round-trip  85.2 ms) speed  0.7 m/s

2025-06-05T17:00:26.327Z,1749142826.327 [DAT](INFO): DAT read: user:2527>

2025-06-05T17:00:26.328Z,1749142826.328 [DAT](INFO): DAT read: Tx time:17:00:25.5609

2025-06-05T17:00:26.328Z,1749142826.328 [DAT](INFO): Ping request sent.
2025-06-05T17:00:26.328Z,1749142826.328 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:26.328Z,1749142826.328 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:00:26.329Z,1749142826.329 [DAT](INFO): direction in FSK: [0.954314,-0.225590,-0.195946]
2025-06-05T17:00:26.330Z,1749142826.330 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:26.330Z,1749142826.330 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:26.335Z,1749142826.335 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:26.335Z,1749142826.335 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:26.569Z,1749142826.569 [DAT](INFO): DAT read: TxSync time:17:00:25.5601

2025-06-05T17:00:26.808Z,1749142826.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 3.527726 s,
      deltaX: -2.500000 m,
      approachRate: -0.708672 m/s,
      rangeRepo size: 4

2025-06-05T17:00:26.819Z,1749142826.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.377144 m,
      bearing: 149.934550 deg,
      lat: 36.906279 deg,
      lon: -122.115887 deg,
      deltaT: 3.527726 s,
      deltaX: -2.479584 m,
      approachRate: -0.702884 m/s,
      posRepo size: 4

2025-06-05T17:00:26.820Z,1749142826.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.38 m.
2025-06-05T17:00:26.832Z,1749142826.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.377144 m,
      nav range: 62.621700 m,
      bearing: 149.926124 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001479 deg/s,
      cmd heading: 162.641284 deg,
      new cmd heading: 162.638573 deg.

2025-06-05T17:00:26.834Z,1749142826.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838579 target range: 63.377144 and range: 63.90 m.
2025-06-05T17:00:27.262Z,1749142827.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.38 m.
2025-06-05T17:00:27.273Z,1749142827.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.377144 m,
      nav range: 62.285706 m,
      bearing: 149.921853 deg,
      approach rate: -0.739578 m/s,
      LOS rate: -0.009452 deg/s,
      cmd heading: 162.638579 deg,
      new cmd heading: 162.625697 deg.

2025-06-05T17:00:27.274Z,1749142827.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838354 target range: 63.377144 and range: 63.90 m.
2025-06-05T17:00:27.739Z,1749142827.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.38 m.
2025-06-05T17:00:27.742Z,1749142827.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.377144 m,
      nav range: 61.973301 m,
      bearing: 149.919843 deg,
      approach rate: -0.690127 m/s,
      LOS rate: -0.004462 deg/s,
      cmd heading: 162.625698 deg,
      new cmd heading: 162.619638 deg.

2025-06-05T17:00:27.755Z,1749142827.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838248 target range: 63.377144 and range: 63.90 m.
2025-06-05T17:00:28.061Z,1749142828.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.38 m.
2025-06-05T17:00:28.064Z,1749142828.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.377144 m,
      nav range: 61.717621 m,
      bearing: 149.919118 deg,
      approach rate: -0.737074 m/s,
      LOS rate: -0.002100 deg/s,
      cmd heading: 162.619632 deg,
      new cmd heading: 162.617447 deg.

2025-06-05T17:00:28.065Z,1749142828.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838210 target range: 63.377144 and range: 63.90 m.
2025-06-05T17:00:28.568Z,1749142828.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:28.574Z,1749142828.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.38 m.
2025-06-05T17:00:28.577Z,1749142828.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.377144 m,
      nav range: 61.362453 m,
      bearing: 149.921279 deg,
      approach rate: -0.697810 m/s,
      LOS rate: 0.004271 deg/s,
      cmd heading: 162.617447 deg,
      new cmd heading: 162.623969 deg.

2025-06-05T17:00:28.584Z,1749142828.584 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:28.584Z,1749142828.584 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:28.584Z,1749142828.584 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:28.595Z,1749142828.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838324 target range: 63.377144 and range: 63.90 m.
2025-06-05T17:00:28.837Z,1749142828.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509004
2025-06-05T17:00:28.910Z,1749142828.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.38 m.
2025-06-05T17:00:28.913Z,1749142828.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.377144 m,
      nav range: 61.115044 m,
      bearing: 149.922841 deg,
      approach rate: -0.727678 m/s,
      LOS rate: 0.004612 deg/s,
      cmd heading: 162.623963 deg,
      new cmd heading: 162.628667 deg.

2025-06-05T17:00:28.926Z,1749142828.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838406 target range: 63.377144 and range: 63.90 m.
2025-06-05T17:00:29.087Z,1749142829.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758889
2025-06-05T17:00:29.307Z,1749142829.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.38 m.
2025-06-05T17:00:29.310Z,1749142829.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.377144 m,
      nav range: 60.831684 m,
      bearing: 149.924693 deg,
      approach rate: -0.713777 m/s,
      LOS rate: 0.004687 deg/s,
      cmd heading: 162.628662 deg,
      new cmd heading: 162.634244 deg.

2025-06-05T17:00:29.311Z,1749142829.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838503 target range: 63.377144 and range: 63.90 m.
2025-06-05T17:00:29.339Z,1749142829.339 [DAT](INFO): DAT read: Rx Time:17:00:28.0468

2025-06-05T17:00:29.340Z,1749142829.340 [DAT](INFO): Rx dataTimestamp_ set to:1749142829.339389
2025-06-05T17:00:29.340Z,1749142829.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012042
2025-06-05T17:00:29.591Z,1749142829.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262817
2025-06-05T17:00:29.738Z,1749142829.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.38 m.
2025-06-05T17:00:29.740Z,1749142829.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.377144 m,
      nav range: 60.530506 m,
      bearing: 149.924988 deg,
      approach rate: -0.699826 m/s,
      LOS rate: 0.000687 deg/s,
      cmd heading: 162.634249 deg,
      new cmd heading: 162.635137 deg.

2025-06-05T17:00:29.741Z,1749142829.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838519 target range: 63.377144 and range: 63.90 m.
2025-06-05T17:00:29.845Z,1749142829.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516588
2025-06-05T17:00:30.101Z,1749142830.101 [DAT](INFO): DAT read: 17:00:28.0468 LVL= 19520, 21793, 14642, 25395, AGC= 62, IDX= 402,-0.18,-1.459,-2.642,-1.159,-1.815, PHS= 0.444,-0.780, 0.653, RAW= 157.8,  -4.8, CAL= 161.6, -12.7, ROT= 348.4,  12.7

2025-06-05T17:00:30.119Z,1749142830.119 [DAT](INFO): got valid direction response:
 17:00:28.0468 LVL= 19520, 21793, 14642, 25395, AGC= 62, IDX= 402,-0.18,-1.459,-2.642,-1.159,-1.815, PHS= 0.444,-0.780, 0.653, RAW= 157.8,  -4.8, CAL= 161.6, -12.7, ROT= 348.4,  12.7

2025-06-05T17:00:30.121Z,1749142830.121 [DAT](INFO): DAT read: Bearing 348.4,  12.7 (Local)

2025-06-05T17:00:30.122Z,1749142830.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.4,  12.7 (Local)

2025-06-05T17:00:30.137Z,1749142830.137 [DAT](INFO): DAT read: Range 10 to 50 : 61.3 m  (Round-trip  81.8 ms) speed  0.6 m/s

2025-06-05T17:00:30.143Z,1749142830.143 [DAT](INFO): DAT read: user:2528>

2025-06-05T17:00:30.144Z,1749142830.144 [DAT](INFO): DAT read: Tx time:17:00:29.1609

2025-06-05T17:00:30.144Z,1749142830.144 [DAT](INFO): Ping request sent.
2025-06-05T17:00:30.144Z,1749142830.144 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:30.144Z,1749142830.144 [DAT](INFO): DAT read: TxSync time:17:00:29.1601

2025-06-05T17:00:30.145Z,1749142830.145 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:00:30.154Z,1749142830.154 [DAT](INFO): direction in FSK: [0.955609,-0.196158,-0.219846]
2025-06-05T17:00:30.154Z,1749142830.154 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:30.155Z,1749142830.155 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:30.158Z,1749142830.158 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:30.158Z,1749142830.158 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:30.219Z,1749142830.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.299999 m,
      deltaT: 3.780005 s,
      deltaX: -2.600002 m,
      approachRate: -0.687830 m/s,
      rangeRepo size: 4

2025-06-05T17:00:30.222Z,1749142830.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.795826 m,
      bearing: 151.418512 deg,
      lat: 36.906279 deg,
      lon: -122.115887 deg,
      deltaT: 3.780005 s,
      deltaX: -2.581318 m,
      approachRate: -0.682887 m/s,
      posRepo size: 4

2025-06-05T17:00:30.229Z,1749142830.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-06-05T17:00:30.244Z,1749142830.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.795826 m,
      nav range: 60.240509 m,
      bearing: 149.943702 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000687 deg/s,
      cmd heading: 162.635137 deg,
      new cmd heading: 162.636121 deg.

2025-06-05T17:00:30.255Z,1749142830.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838536 target range: 60.795826 and range: 61.30 m.
2025-06-05T17:00:30.653Z,1749142830.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:30.659Z,1749142830.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-06-05T17:00:30.662Z,1749142830.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.795826 m,
      nav range: 59.913399 m,
      bearing: 149.944294 deg,
      approach rate: -0.736005 m/s,
      LOS rate: 0.001339 deg/s,
      cmd heading: 162.636121 deg,
      new cmd heading: 162.637906 deg.

2025-06-05T17:00:30.667Z,1749142830.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838567 target range: 60.795826 and range: 61.30 m.
2025-06-05T17:00:30.851Z,1749142830.851 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:30.851Z,1749142830.851 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:30.851Z,1749142830.851 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:30.935Z,1749142830.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-06-05T17:00:30.937Z,1749142830.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.795826 m,
      nav range: 59.702053 m,
      bearing: 149.944493 deg,
      approach rate: -0.766312 m/s,
      LOS rate: 0.000725 deg/s,
      cmd heading: 162.637910 deg,
      new cmd heading: 162.638510 deg.

2025-06-05T17:00:30.939Z,1749142830.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838578 target range: 60.795826 and range: 61.30 m.
2025-06-05T17:00:31.103Z,1749142831.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.959050
2025-06-05T17:00:31.332Z,1749142831.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-06-05T17:00:31.336Z,1749142831.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.795826 m,
      nav range: 59.421371 m,
      bearing: 149.944937 deg,
      approach rate: -0.707468 m/s,
      LOS rate: 0.001125 deg/s,
      cmd heading: 162.638511 deg,
      new cmd heading: 162.639849 deg.

2025-06-05T17:00:31.337Z,1749142831.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838601 target range: 60.795826 and range: 61.30 m.
2025-06-05T17:00:31.355Z,1749142831.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.211381
2025-06-05T17:00:31.607Z,1749142831.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463206
2025-06-05T17:00:31.758Z,1749142831.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-06-05T17:00:31.761Z,1749142831.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.795826 m,
      nav range: 59.126369 m,
      bearing: 149.950303 deg,
      approach rate: -0.692027 m/s,
      LOS rate: 0.012651 deg/s,
      cmd heading: 162.639850 deg,
      new cmd heading: 162.656029 deg.

2025-06-05T17:00:31.762Z,1749142831.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838883 target range: 60.795826 and range: 61.30 m.
2025-06-05T17:00:31.859Z,1749142831.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715370
2025-06-05T17:00:32.111Z,1749142832.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967178
2025-06-05T17:00:32.211Z,1749142832.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-06-05T17:00:32.236Z,1749142832.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.795826 m,
      nav range: 58.820549 m,
      bearing: 149.956104 deg,
      approach rate: -0.675921 m/s,
      LOS rate: 0.012888 deg/s,
      cmd heading: 162.656024 deg,
      new cmd heading: 162.673517 deg.

2025-06-05T17:00:32.237Z,1749142832.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839189 target range: 60.795826 and range: 61.30 m.
2025-06-05T17:00:32.368Z,1749142832.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223996
2025-06-05T17:00:32.591Z,1749142832.591 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 4.
2025-06-05T17:00:32.608Z,1749142832.608 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 40, 46.
2025-06-05T17:00:32.619Z,1749142832.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475168
2025-06-05T17:00:32.688Z,1749142832.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:32.695Z,1749142832.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-06-05T17:00:32.697Z,1749142832.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.795826 m,
      nav range: 58.508591 m,
      bearing: 149.955771 deg,
      approach rate: -0.649555 m/s,
      LOS rate: -0.000697 deg/s,
      cmd heading: 162.673523 deg,
      new cmd heading: 162.672518 deg.

2025-06-05T17:00:32.703Z,1749142832.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839171 target range: 60.795826 and range: 61.30 m.
2025-06-05T17:00:32.874Z,1749142832.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729178
2025-06-05T17:00:33.115Z,1749142833.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-06-05T17:00:33.123Z,1749142833.123 [DAT](INFO): DAT read: Rx Time:17:00:31.6436

2025-06-05T17:00:33.124Z,1749142833.124 [DAT](INFO): Rx dataTimestamp_ set to:1749142833.123451
2025-06-05T17:00:33.124Z,1749142833.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980339
2025-06-05T17:00:33.138Z,1749142833.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.795826 m,
      nav range: 58.194626 m,
      bearing: 149.955382 deg,
      approach rate: -0.738664 m/s,
      LOS rate: -0.000921 deg/s,
      cmd heading: 162.672512 deg,
      new cmd heading: 162.671337 deg.

2025-06-05T17:00:33.139Z,1749142833.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839150 target range: 60.795826 and range: 61.30 m.
2025-06-05T17:00:33.376Z,1749142833.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231908
2025-06-05T17:00:33.608Z,1749142833.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m.
2025-06-05T17:00:33.616Z,1749142833.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.795826 m,
      nav range: 57.865891 m,
      bearing: 149.954969 deg,
      approach rate: -0.667579 m/s,
      LOS rate: -0.000842 deg/s,
      cmd heading: 162.671337 deg,
      new cmd heading: 162.670093 deg.

2025-06-05T17:00:33.617Z,1749142833.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839129 target range: 60.795826 and range: 61.30 m.
2025-06-05T17:00:33.634Z,1749142833.634 [DAT](INFO): DAT read: 17:00:31.6436 LVL= 22720, 23441, 17394, 28851, AGC= 66, IDX= 399, 0.42,-2.133, 2.885,-1.838,-2.494, PHS= 0.449,-0.857, 0.653, RAW= 157.2,  -3.5, CAL= 160.7, -11.7, ROT= 349.3,  11.7

2025-06-05T17:00:33.635Z,1749142833.635 [DAT](INFO): got valid direction response:
 17:00:31.6436 LVL= 22720, 23441, 17394, 28851, AGC= 66, IDX= 399, 0.42,-2.133, 2.885,-1.838,-2.494, PHS= 0.449,-0.857, 0.653, RAW= 157.2,  -3.5, CAL= 160.7, -11.7, ROT= 349.3,  11.7

2025-06-05T17:00:33.636Z,1749142833.636 [DAT](INFO): DAT read: Bearing 349.3,  11.7 (Local)

2025-06-05T17:00:33.637Z,1749142833.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.3,  11.7 (Local)

2025-06-05T17:00:33.638Z,1749142833.638 [DAT](INFO): DAT read: Range 10 to 50 : 58.8 m  (Round-trip  78.5 ms) speed  0.7 m/s

2025-06-05T17:00:33.639Z,1749142833.639 [DAT](INFO): DAT read: user:2529>

2025-06-05T17:00:33.640Z,1749142833.640 [DAT](INFO): DAT read: Tx time:17:00:32.7610

2025-06-05T17:00:33.640Z,1749142833.640 [DAT](INFO): Ping request sent.
2025-06-05T17:00:33.640Z,1749142833.640 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:33.640Z,1749142833.640 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:00:33.641Z,1749142833.641 [DAT](INFO): direction in FSK: [0.962197,-0.181809,-0.202787]
2025-06-05T17:00:33.641Z,1749142833.641 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:33.642Z,1749142833.642 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:33.653Z,1749142833.653 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:33.653Z,1749142833.653 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:33.884Z,1749142833.884 [DAT](INFO): DAT read: TxSync time:17:00:32.7602

2025-06-05T17:00:34.003Z,1749142834.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.799999 m,
      deltaT: 3.532051 s,
      deltaX: -2.500000 m,
      approachRate: -0.707804 m/s,
      rangeRepo size: 4

2025-06-05T17:00:34.005Z,1749142834.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.315842 m,
      bearing: 152.142301 deg,
      lat: 36.906275 deg,
      lon: -122.115899 deg,
      deltaT: 3.532051 s,
      deltaX: -2.479984 m,
      approachRate: -0.702137 m/s,
      posRepo size: 4

2025-06-05T17:00:34.010Z,1749142834.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-06-05T17:00:34.011Z,1749142834.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-06-05T17:00:34.013Z,1749142834.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.315842 m,
      nav range: 57.524792 m,
      bearing: 151.051849 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000842 deg/s,
      cmd heading: 162.670094 deg,
      new cmd heading: 162.669108 deg.

2025-06-05T17:00:34.016Z,1749142834.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839112 target range: 58.315842 and range: 58.80 m.
2025-06-05T17:00:34.060Z,1749142834.060 [DockingStepper](INFO): Changing to mode: 2
2025-06-05T17:00:34.060Z,1749142834.060 [DockingStepper](INFO): Armed mode.
2025-06-05T17:00:34.123Z,1749142834.123 [DockingStepper](INFO): Commanding negative:54396
2025-06-05T17:00:34.378Z,1749142834.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-06-05T17:00:34.379Z,1749142834.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-06-05T17:00:34.406Z,1749142834.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.315842 m,
      nav range: 57.262070 m,
      bearing: 151.054273 deg,
      approach rate: -0.699056 m/s,
      LOS rate: 0.006479 deg/s,
      cmd heading: 162.669110 deg,
      new cmd heading: 162.676415 deg.

2025-06-05T17:00:34.407Z,1749142834.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839239 target range: 58.315842 and range: 58.80 m.
2025-06-05T17:00:34.811Z,1749142834.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:34.813Z,1749142834.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-06-05T17:00:34.814Z,1749142834.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-06-05T17:00:34.819Z,1749142834.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.315842 m,
      nav range: 56.956997 m,
      bearing: 151.059673 deg,
      approach rate: -0.694286 m/s,
      LOS rate: 0.012356 deg/s,
      cmd heading: 162.676419 deg,
      new cmd heading: 162.692706 deg.

2025-06-05T17:00:34.820Z,1749142834.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839523 target range: 58.315842 and range: 58.80 m.
2025-06-05T17:00:34.892Z,1749142834.892 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:34.892Z,1749142834.892 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:34.893Z,1749142834.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:35.143Z,1749142835.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503209
2025-06-05T17:00:35.192Z,1749142835.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-06-05T17:00:35.193Z,1749142835.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-06-05T17:00:35.196Z,1749142835.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.315842 m,
      nav range: 56.698559 m,
      bearing: 151.064841 deg,
      approach rate: -0.681571 m/s,
      LOS rate: 0.013689 deg/s,
      cmd heading: 162.692702 deg,
      new cmd heading: 162.708274 deg.

2025-06-05T17:00:35.197Z,1749142835.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839795 target range: 58.315842 and range: 58.80 m.
2025-06-05T17:00:35.395Z,1749142835.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755482
2025-06-05T17:00:35.647Z,1749142835.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007146
2025-06-05T17:00:35.664Z,1749142835.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-06-05T17:00:35.664Z,1749142835.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-06-05T17:00:35.669Z,1749142835.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.315842 m,
      nav range: 56.380444 m,
      bearing: 151.076862 deg,
      approach rate: -0.674678 m/s,
      LOS rate: 0.025641 deg/s,
      cmd heading: 162.708275 deg,
      new cmd heading: 162.744544 deg.

2025-06-05T17:00:35.670Z,1749142835.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840428 target range: 58.315842 and range: 58.80 m.
2025-06-05T17:00:35.902Z,1749142835.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262146
2025-06-05T17:00:36.002Z,1749142836.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-06-05T17:00:36.007Z,1749142836.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-06-05T17:00:36.010Z,1749142836.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.315842 m,
      nav range: 56.162594 m,
      bearing: 151.085015 deg,
      approach rate: -0.644940 m/s,
      LOS rate: 0.024228 deg/s,
      cmd heading: 162.744543 deg,
      new cmd heading: 162.769094 deg.

2025-06-05T17:00:36.015Z,1749142836.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840857 target range: 58.315842 and range: 58.80 m.
2025-06-05T17:00:36.152Z,1749142836.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511863
2025-06-05T17:00:36.389Z,1749142836.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-06-05T17:00:36.389Z,1749142836.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-06-05T17:00:36.393Z,1749142836.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.315842 m,
      nav range: 55.892284 m,
      bearing: 151.095062 deg,
      approach rate: -0.697955 m/s,
      LOS rate: 0.026068 deg/s,
      cmd heading: 162.769091 deg,
      new cmd heading: 162.799378 deg.

2025-06-05T17:00:36.393Z,1749142836.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.841385 target range: 58.315842 and range: 58.80 m.
2025-06-05T17:00:36.403Z,1749142836.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763202
2025-06-05T17:00:36.655Z,1749142836.655 [DAT](INFO): DAT read: Rx Time:17:00:35.2402

2025-06-05T17:00:36.656Z,1749142836.656 [DAT](INFO): Rx dataTimestamp_ set to:1749142836.655351
2025-06-05T17:00:36.656Z,1749142836.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016177
2025-06-05T17:00:36.811Z,1749142836.811 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,       -0.65,        +8.0 -0.26,  20.00,883.04
2025-06-05T17:00:36.841Z,1749142836.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:36.847Z,1749142836.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-06-05T17:00:36.847Z,1749142836.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-06-05T17:00:36.856Z,1749142836.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.315842 m,
      nav range: 55.592503 m,
      bearing: 151.106319 deg,
      approach rate: -0.654587 m/s,
      LOS rate: 0.024713 deg/s,
      cmd heading: 162.799376 deg,
      new cmd heading: 162.833329 deg.

2025-06-05T17:00:36.857Z,1749142836.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.841978 target range: 58.315842 and range: 58.80 m.
2025-06-05T17:00:36.908Z,1749142836.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268140
2025-06-05T17:00:37.169Z,1749142837.169 [DAT](INFO): DAT read: 17:00:35.2402 LVL= 20592, 24849, 13698, 31667, AGC= 64, IDX= 413,-0.08, 1.240,-0.008, 1.590, 0.930, PHS= 0.398,-0.891, 0.657, RAW= 159.0,  -2.3, CAL= 162.0, -10.6, ROT= 348.0,  10.6

2025-06-05T17:00:37.170Z,1749142837.170 [DAT](INFO): got valid direction response:
 17:00:35.2402 LVL= 20592, 24849, 13698, 31667, AGC= 64, IDX= 413,-0.08, 1.240,-0.008, 1.590, 0.930, PHS= 0.398,-0.891, 0.657, RAW= 159.0,  -2.3, CAL= 162.0, -10.6, ROT= 348.0,  10.6

2025-06-05T17:00:37.171Z,1749142837.171 [DAT](INFO): DAT read: Bearing 348.0,  10.6 (Local)

2025-06-05T17:00:37.172Z,1749142837.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.0,  10.6 (Local)

2025-06-05T17:00:37.173Z,1749142837.173 [DAT](INFO): DAT read: Range 10 to 50 : 56.2 m  (Round-trip  75.0 ms) speed  0.8 m/s

2025-06-05T17:00:37.174Z,1749142837.174 [DAT](INFO): DAT read: user:2530>

2025-06-05T17:00:37.178Z,1749142837.178 [DAT](INFO): DAT read: Tx time:17:00:36.3610

2025-06-05T17:00:37.194Z,1749142837.194 [DAT](INFO): Ping request sent.
2025-06-05T17:00:37.194Z,1749142837.194 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:37.195Z,1749142837.195 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:00:37.196Z,1749142837.196 [DAT](INFO): direction in FSK: [0.961456,-0.204364,-0.183951]
2025-06-05T17:00:37.196Z,1749142837.196 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:37.196Z,1749142837.196 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:37.199Z,1749142837.199 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:37.199Z,1749142837.199 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:37.309Z,1749142837.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.200001 m,
      deltaT: 3.531877 s,
      deltaX: -2.599998 m,
      approachRate: -0.736152 m/s,
      rangeRepo size: 4

2025-06-05T17:00:37.317Z,1749142837.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.734356 m,
      bearing: 150.982847 deg,
      lat: 36.906275 deg,
      lon: -122.115899 deg,
      deltaT: 3.531877 s,
      deltaX: -2.581486 m,
      approachRate: -0.730910 m/s,
      posRepo size: 4

2025-06-05T17:00:37.322Z,1749142837.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.73 m.
2025-06-05T17:00:37.323Z,1749142837.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-06-05T17:00:37.326Z,1749142837.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.734356 m,
      nav range: 55.296387 m,
      bearing: 151.116194 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024713 deg/s,
      cmd heading: 162.833335 deg,
      new cmd heading: 162.867464 deg.

2025-06-05T17:00:37.327Z,1749142837.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.842573 target range: 55.734356 and range: 56.20 m.
2025-06-05T17:00:37.413Z,1749142837.413 [DAT](INFO): DAT read: TxSync time:17:00:36.3602

2025-06-05T17:00:37.768Z,1749142837.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.73 m.
2025-06-05T17:00:37.769Z,1749142837.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-06-05T17:00:37.776Z,1749142837.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.734356 m,
      nav range: 54.962013 m,
      bearing: 151.140296 deg,
      approach rate: -0.725818 m/s,
      LOS rate: 0.052636 deg/s,
      cmd heading: 162.867459 deg,
      new cmd heading: 162.940205 deg.

2025-06-05T17:00:37.777Z,1749142837.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.843843 target range: 55.734356 and range: 56.20 m.
2025-06-05T17:00:38.104Z,1749142838.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.73 m.
2025-06-05T17:00:38.105Z,1749142838.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-06-05T17:00:38.108Z,1749142838.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.734356 m,
      nav range: 54.727486 m,
      bearing: 151.156891 deg,
      approach rate: -0.697729 m/s,
      LOS rate: 0.049580 deg/s,
      cmd heading: 162.940201 deg,
      new cmd heading: 162.990197 deg.

2025-06-05T17:00:38.109Z,1749142838.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.844716 target range: 55.734356 and range: 56.20 m.
2025-06-05T17:00:38.490Z,1749142838.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.73 m.
2025-06-05T17:00:38.491Z,1749142838.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-06-05T17:00:38.494Z,1749142838.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.734356 m,
      nav range: 54.446072 m,
      bearing: 151.177029 deg,
      approach rate: -0.729086 m/s,
      LOS rate: 0.052445 deg/s,
      cmd heading: 162.990198 deg,
      new cmd heading: 163.050926 deg.

2025-06-05T17:00:38.495Z,1749142838.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.845776 target range: 55.734356 and range: 56.20 m.
2025-06-05T17:00:38.913Z,1749142838.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:38.917Z,1749142838.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.73 m.
2025-06-05T17:00:38.917Z,1749142838.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-06-05T17:00:38.921Z,1749142838.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.734356 m,
      nav range: 54.140488 m,
      bearing: 151.194409 deg,
      approach rate: -0.716057 m/s,
      LOS rate: 0.040954 deg/s,
      cmd heading: 163.050932 deg,
      new cmd heading: 163.103364 deg.

2025-06-05T17:00:38.923Z,1749142838.923 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:38.923Z,1749142838.923 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:38.924Z,1749142838.924 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:38.947Z,1749142838.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.846691 target range: 55.734356 and range: 56.20 m.
2025-06-05T17:00:39.175Z,1749142839.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981249
2025-06-05T17:00:39.339Z,1749142839.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.73 m.
2025-06-05T17:00:39.340Z,1749142839.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-06-05T17:00:39.347Z,1749142839.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.734356 m,
      nav range: 53.844654 m,
      bearing: 151.211422 deg,
      approach rate: -0.700204 m/s,
      LOS rate: 0.040490 deg/s,
      cmd heading: 163.103360 deg,
      new cmd heading: 163.154681 deg.

2025-06-05T17:00:39.348Z,1749142839.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847586 target range: 55.734356 and range: 56.20 m.
2025-06-05T17:00:39.427Z,1749142839.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233064
2025-06-05T17:00:39.680Z,1749142839.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485684
2025-06-05T17:00:39.747Z,1749142839.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.73 m.
2025-06-05T17:00:39.748Z,1749142839.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-06-05T17:00:39.752Z,1749142839.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.734356 m,
      nav range: 53.542858 m,
      bearing: 151.227769 deg,
      approach rate: -0.739948 m/s,
      LOS rate: 0.040305 deg/s,
      cmd heading: 163.154682 deg,
      new cmd heading: 163.203998 deg.

2025-06-05T17:00:39.753Z,1749142839.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848447 target range: 55.734356 and range: 56.20 m.
2025-06-05T17:00:39.931Z,1749142839.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736975
2025-06-05T17:00:40.149Z,1749142840.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.73 m.
2025-06-05T17:00:40.150Z,1749142840.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-06-05T17:00:40.151Z,1749142840.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.20 m.
2025-06-05T17:00:40.151Z,1749142840.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-05T17:00:40.158Z,1749142840.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.734356 m,
      nav range: 53.254284 m,
      bearing: 151.242389 deg,
      approach rate: -0.719782 m/s,
      LOS rate: 0.036664 deg/s,
      cmd heading: 163.203996 deg,
      new cmd heading: 163.248094 deg.

2025-06-05T17:00:40.159Z,1749142840.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849217 target range: 55.734356 and range: 56.20 m.
2025-06-05T17:00:40.184Z,1749142840.184 [DAT](INFO): DAT read: Rx Time:17:00:38.8368

2025-06-05T17:00:40.184Z,1749142840.184 [DAT](INFO): Rx dataTimestamp_ set to:1749142840.184068
2025-06-05T17:00:40.185Z,1749142840.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990743
2025-06-05T17:00:40.435Z,1749142840.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240875
2025-06-05T17:00:40.520Z,1749142840.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.73 m.
2025-06-05T17:00:40.525Z,1749142840.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.734356 m,
      nav range: 52.991611 m,
      bearing: 151.254683 deg,
      approach rate: -0.707629 m/s,
      LOS rate: 0.033285 deg/s,
      cmd heading: 163.248092 deg,
      new cmd heading: 163.285158 deg.

2025-06-05T17:00:40.527Z,1749142840.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849864 target range: 55.734356 and range: 56.20 m.
2025-06-05T17:00:40.693Z,1749142840.693 [DAT](INFO): DAT read: 17:00:38.8368 LVL= 24016, 26833, 17906, 31523, AGC= 65, IDX= 410, 0.35,-0.083,-1.363, 0.262,-0.414, PHS= 0.419,-0.902, 0.673, RAW= 158.6,  -2.6, CAL= 161.7, -10.9, ROT= 348.3,  10.9

2025-06-05T17:00:40.695Z,1749142840.695 [DAT](INFO): got valid direction response:
 17:00:38.8368 LVL= 24016, 26833, 17906, 31523, AGC= 65, IDX= 410, 0.35,-0.083,-1.363, 0.262,-0.414, PHS= 0.419,-0.902, 0.673, RAW= 158.6,  -2.6, CAL= 161.7, -10.9, ROT= 348.3,  10.9

2025-06-05T17:00:40.696Z,1749142840.696 [DAT](INFO): DAT read: Bearing 348.3,  10.9 (Local)

2025-06-05T17:00:40.696Z,1749142840.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.3,  10.9 (Local)

2025-06-05T17:00:40.697Z,1749142840.697 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m  (Round-trip  71.6 ms) speed  0.6 m/s

2025-06-05T17:00:40.699Z,1749142840.699 [DAT](INFO): DAT read: user:2531>

2025-06-05T17:00:40.700Z,1749142840.700 [DAT](INFO): DAT read: Tx time:17:00:39.9610

2025-06-05T17:00:40.700Z,1749142840.700 [DAT](INFO): Ping request sent.
2025-06-05T17:00:40.701Z,1749142840.701 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:40.701Z,1749142840.701 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:00:40.703Z,1749142840.703 [DAT](INFO): direction in FSK: [0.961556,-0.199129,-0.189095]
2025-06-05T17:00:40.703Z,1749142840.703 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:40.703Z,1749142840.703 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:40.722Z,1749142840.722 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:40.723Z,1749142840.723 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:40.939Z,1749142840.939 [DAT](INFO): DAT read: TxSync time:17:00:39.9602

2025-06-05T17:00:41.041Z,1749142841.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.700001 m,
      deltaT: 3.528335 s,
      deltaX: -2.500000 m,
      approachRate: -0.708549 m/s,
      rangeRepo size: 4

2025-06-05T17:00:41.044Z,1749142841.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.254368 m,
      bearing: 152.775302 deg,
      lat: 36.906275 deg,
      lon: -122.115904 deg,
      deltaT: 3.528335 s,
      deltaX: -2.479988 m,
      approachRate: -0.702878 m/s,
      posRepo size: 4

2025-06-05T17:00:41.044Z,1749142841.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.25 m.
2025-06-05T17:00:41.047Z,1749142841.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.254368 m,
      nav range: 52.380379 m,
      bearing: 151.750988 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033285 deg/s,
      cmd heading: 163.285152 deg,
      new cmd heading: 163.337192 deg.

2025-06-05T17:00:41.049Z,1749142841.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.850772 target range: 53.254368 and range: 53.70 m.
2025-06-05T17:00:41.402Z,1749142841.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:41.404Z,1749142841.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.25 m.
2025-06-05T17:00:41.413Z,1749142841.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.254368 m,
      nav range: 52.132027 m,
      bearing: 151.759428 deg,
      approach rate: -0.682820 m/s,
      LOS rate: 0.023316 deg/s,
      cmd heading: 163.337198 deg,
      new cmd heading: 163.362640 deg.

2025-06-05T17:00:41.420Z,1749142841.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851216 target range: 53.254368 and range: 53.70 m.
2025-06-05T17:00:41.447Z,1749142841.447 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:41.447Z,1749142841.447 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:41.447Z,1749142841.447 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:41.699Z,1749142841.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997280
2025-06-05T17:00:41.831Z,1749142841.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.25 m.
2025-06-05T17:00:41.836Z,1749142841.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.254368 m,
      nav range: 51.823158 m,
      bearing: 151.766408 deg,
      approach rate: -0.723286 m/s,
      LOS rate: 0.016443 deg/s,
      cmd heading: 163.362634 deg,
      new cmd heading: 163.383699 deg.

2025-06-05T17:00:41.837Z,1749142841.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851583 target range: 53.254368 and range: 53.70 m.
2025-06-05T17:00:41.947Z,1749142841.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246382
2025-06-05T17:00:42.200Z,1749142842.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499841
2025-06-05T17:00:42.217Z,1749142842.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.25 m.
2025-06-05T17:00:42.224Z,1749142842.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.254368 m,
      nav range: 51.568958 m,
      bearing: 151.769830 deg,
      approach rate: -0.658254 m/s,
      LOS rate: 0.008906 deg/s,
      cmd heading: 163.383698 deg,
      new cmd heading: 163.394016 deg.

2025-06-05T17:00:42.226Z,1749142842.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851763 target range: 53.254368 and range: 53.70 m.
2025-06-05T17:00:42.452Z,1749142842.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751368
2025-06-05T17:00:42.617Z,1749142842.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.25 m.
2025-06-05T17:00:42.621Z,1749142842.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.254368 m,
      nav range: 51.285313 m,
      bearing: 151.773689 deg,
      approach rate: -0.709726 m/s,
      LOS rate: 0.009709 deg/s,
      cmd heading: 163.394012 deg,
      new cmd heading: 163.405652 deg.

2025-06-05T17:00:42.625Z,1749142842.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851967 target range: 53.254368 and range: 53.70 m.
2025-06-05T17:00:42.706Z,1749142842.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004841
2025-06-05T17:00:42.955Z,1749142842.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254635
2025-06-05T17:00:43.030Z,1749142843.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.25 m.
2025-06-05T17:00:43.034Z,1749142843.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.254368 m,
      nav range: 50.999371 m,
      bearing: 151.765008 deg,
      approach rate: -0.692943 m/s,
      LOS rate: -0.021154 deg/s,
      cmd heading: 163.405651 deg,
      new cmd heading: 163.379463 deg.

2025-06-05T17:00:43.035Z,1749142843.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851510 target range: 53.254368 and range: 53.70 m.
2025-06-05T17:00:43.207Z,1749142843.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506427
2025-06-05T17:00:43.412Z,1749142843.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:43.415Z,1749142843.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.25 m.
2025-06-05T17:00:43.419Z,1749142843.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.254368 m,
      nav range: 50.738449 m,
      bearing: 151.756715 deg,
      approach rate: -0.676967 m/s,
      LOS rate: -0.021629 deg/s,
      cmd heading: 163.379464 deg,
      new cmd heading: 163.354455 deg.

2025-06-05T17:00:43.420Z,1749142843.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851073 target range: 53.254368 and range: 53.70 m.
2025-06-05T17:00:43.461Z,1749142843.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760089
2025-06-05T17:00:43.714Z,1749142843.714 [DAT](INFO): DAT read: Rx Time:17:00:42.4335

2025-06-05T17:00:43.716Z,1749142843.716 [DAT](INFO): Rx dataTimestamp_ set to:1749142843.714418
2025-06-05T17:00:43.718Z,1749142843.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016837
2025-06-05T17:00:43.868Z,1749142843.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.25 m.
2025-06-05T17:00:43.871Z,1749142843.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.254368 m,
      nav range: 50.434029 m,
      bearing: 151.744410 deg,
      approach rate: -0.671863 m/s,
      LOS rate: -0.027320 deg/s,
      cmd heading: 163.354452 deg,
      new cmd heading: 163.317316 deg.

2025-06-05T17:00:43.872Z,1749142843.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.850425 target range: 53.254368 and range: 53.70 m.
2025-06-05T17:00:43.965Z,1749142843.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263654
2025-06-05T17:00:43.967Z,1749142843.967 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:00:44.218Z,1749142844.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516593
2025-06-05T17:00:44.303Z,1749142844.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.25 m.
2025-06-05T17:00:44.305Z,1749142844.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.254368 m,
      nav range: 50.144360 m,
      bearing: 151.732755 deg,
      approach rate: -0.667320 m/s,
      LOS rate: -0.027006 deg/s,
      cmd heading: 163.317323 deg,
      new cmd heading: 163.282154 deg.

2025-06-05T17:00:44.307Z,1749142844.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849811 target range: 53.254368 and range: 53.70 m.
2025-06-05T17:00:44.489Z,1749142844.489 [DAT](INFO): DAT read: 17:00:42.4335 LVL= 21744, 28369, 14146, 32691, AGC= 66, IDX= 408,-0.40,-1.077,-2.198,-0.713,-1.347, PHS= 0.358,-0.804, 0.631, RAW= 160.3,  -2.8, CAL= 163.3, -11.0, ROT= 346.7,  11.0

2025-06-05T17:00:44.490Z,1749142844.490 [DAT](INFO): got valid direction response:
 17:00:42.4335 LVL= 21744, 28369, 14146, 32691, AGC= 66, IDX= 408,-0.40,-1.077,-2.198,-0.713,-1.347, PHS= 0.358,-0.804, 0.631, RAW= 160.3,  -2.8, CAL= 163.3, -11.0, ROT= 346.7,  11.0

2025-06-05T17:00:44.491Z,1749142844.491 [DAT](INFO): DAT read: Bearing 346.7,  11.0 (Local)

2025-06-05T17:00:44.492Z,1749142844.492 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,  11.0 (Local)

2025-06-05T17:00:44.493Z,1749142844.493 [DAT](INFO): DAT read: Range 10 to 50 : 51.2 m  (Round-trip  68.3 ms) speed  0.7 m/s

2025-06-05T17:00:44.494Z,1749142844.494 [DAT](INFO): DAT read: user:2532>

2025-06-05T17:00:44.495Z,1749142844.495 [DAT](INFO): DAT read: Tx time:17:00:43.5611

2025-06-05T17:00:44.496Z,1749142844.496 [DAT](INFO): Ping request sent.
2025-06-05T17:00:44.496Z,1749142844.496 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:44.496Z,1749142844.496 [DAT](INFO): DAT read: TxSync time:17:00:43.5603

2025-06-05T17:00:44.497Z,1749142844.497 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:00:44.498Z,1749142844.498 [DAT](INFO): direction in FSK: [0.955299,-0.225823,-0.190809]
2025-06-05T17:00:44.499Z,1749142844.499 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:44.499Z,1749142844.499 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:44.503Z,1749142844.503 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:44.504Z,1749142844.504 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:44.870Z,1749142844.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.200001 m,
      deltaT: 3.780548 s,
      deltaX: -2.500000 m,
      approachRate: -0.661280 m/s,
      rangeRepo size: 4

2025-06-05T17:00:44.876Z,1749142844.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.774876 m,
      bearing: 152.236390 deg,
      lat: 36.906269 deg,
      lon: -122.115906 deg,
      deltaT: 3.780548 s,
      deltaX: -2.479492 m,
      approachRate: -0.655855 m/s,
      posRepo size: 4

2025-06-05T17:00:44.877Z,1749142844.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.77 m.
2025-06-05T17:00:44.885Z,1749142844.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.774876 m,
      nav range: 50.296379 m,
      bearing: 152.236250 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027006 deg/s,
      cmd heading: 163.282161 deg,
      new cmd heading: 163.236243 deg.

2025-06-05T17:00:44.890Z,1749142844.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849010 target range: 50.774876 and range: 51.20 m.
2025-06-05T17:00:44.972Z,1749142844.972 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:00:45.189Z,1749142845.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.77 m.
2025-06-05T17:00:45.212Z,1749142845.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.774876 m,
      nav range: 50.076241 m,
      bearing: 152.231859 deg,
      approach rate: -0.689035 m/s,
      LOS rate: -0.013803 deg/s,
      cmd heading: 163.236248 deg,
      new cmd heading: 163.223019 deg.

2025-06-05T17:00:45.216Z,1749142845.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848779 target range: 50.774876 and range: 51.20 m.
2025-06-05T17:00:45.588Z,1749142845.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:45.591Z,1749142845.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.77 m.
2025-06-05T17:00:45.593Z,1749142845.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.774876 m,
      nav range: 49.804756 m,
      bearing: 152.225550 deg,
      approach rate: -0.675824 m/s,
      LOS rate: -0.015792 deg/s,
      cmd heading: 163.223025 deg,
      new cmd heading: 163.203993 deg.

2025-06-05T17:00:45.595Z,1749142845.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848447 target range: 50.774876 and range: 51.20 m.
2025-06-05T17:00:45.730Z,1749142845.730 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:45.731Z,1749142845.731 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:45.732Z,1749142845.732 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:45.979Z,1749142845.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483500
2025-06-05T17:00:46.093Z,1749142846.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.77 m.
2025-06-05T17:00:46.101Z,1749142846.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.774876 m,
      nav range: 49.480011 m,
      bearing: 152.216796 deg,
      approach rate: -0.645681 m/s,
      LOS rate: -0.017519 deg/s,
      cmd heading: 163.203996 deg,
      new cmd heading: 163.177562 deg.

2025-06-05T17:00:46.106Z,1749142846.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847986 target range: 50.774876 and range: 51.20 m.
2025-06-05T17:00:46.231Z,1749142846.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735466
2025-06-05T17:00:46.429Z,1749142846.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.77 m.
2025-06-05T17:00:46.441Z,1749142846.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.774876 m,
      nav range: 49.254292 m,
      bearing: 152.210659 deg,
      approach rate: -0.671366 m/s,
      LOS rate: -0.018336 deg/s,
      cmd heading: 163.177563 deg,
      new cmd heading: 163.159069 deg.

2025-06-05T17:00:46.443Z,1749142846.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847663 target range: 50.774876 and range: 51.20 m.
2025-06-05T17:00:46.483Z,1749142846.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987614
2025-06-05T17:00:46.738Z,1749142846.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242031
2025-06-05T17:00:46.852Z,1749142846.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.77 m.
2025-06-05T17:00:46.859Z,1749142846.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.774876 m,
      nav range: 48.974499 m,
      bearing: 152.209544 deg,
      approach rate: -0.663686 m/s,
      LOS rate: -0.002661 deg/s,
      cmd heading: 163.159067 deg,
      new cmd heading: 163.155702 deg.

2025-06-05T17:00:46.862Z,1749142846.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847604 target range: 50.774876 and range: 51.20 m.
2025-06-05T17:00:46.987Z,1749142846.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491677
2025-06-05T17:00:47.239Z,1749142847.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743375
2025-06-05T17:00:47.250Z,1749142847.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.77 m.
2025-06-05T17:00:47.257Z,1749142847.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.774876 m,
      nav range: 48.718346 m,
      bearing: 152.208558 deg,
      approach rate: -0.644550 m/s,
      LOS rate: -0.002492 deg/s,
      cmd heading: 163.155707 deg,
      new cmd heading: 163.152735 deg.

2025-06-05T17:00:47.258Z,1749142847.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847552 target range: 50.774876 and range: 51.20 m.
2025-06-05T17:00:47.493Z,1749142847.493 [DAT](INFO): DAT read: Rx Time:17:00:46.0301

2025-06-05T17:00:47.493Z,1749142847.493 [DAT](INFO): Rx dataTimestamp_ set to:1749142847.492829
2025-06-05T17:00:47.494Z,1749142847.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997945
2025-06-05T17:00:47.630Z,1749142847.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:47.634Z,1749142847.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.77 m.
2025-06-05T17:00:47.641Z,1749142847.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.774876 m,
      nav range: 48.479626 m,
      bearing: 152.207728 deg,
      approach rate: -0.620558 m/s,
      LOS rate: -0.002168 deg/s,
      cmd heading: 163.152729 deg,
      new cmd heading: 163.150226 deg.

2025-06-05T17:00:47.642Z,1749142847.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847509 target range: 50.774876 and range: 51.20 m.
2025-06-05T17:00:47.747Z,1749142847.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249780
2025-06-05T17:00:48.011Z,1749142848.011 [DAT](INFO): DAT read: 17:00:46.0302 LVL= 23472, 28385, 16434, 32147, AGC= 63, IDX= 406,-0.50, 0.316,-0.839, 0.703, 0.047, PHS= 0.357,-0.839, 0.653, RAW= 160.8,  -2.5, CAL= 163.6, -10.7, ROT= 346.4,  10.7

2025-06-05T17:00:48.012Z,1749142848.012 [DAT](INFO): got valid direction response:
 17:00:46.0302 LVL= 23472, 28385, 16434, 32147, AGC= 63, IDX= 406,-0.50, 0.316,-0.839, 0.703, 0.047, PHS= 0.357,-0.839, 0.653, RAW= 160.8,  -2.5, CAL= 163.6, -10.7, ROT= 346.4,  10.7

2025-06-05T17:00:48.013Z,1749142848.013 [DAT](INFO): DAT read: Bearing 346.4,  10.7 (Local)

2025-06-05T17:00:48.013Z,1749142848.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.4,  10.7 (Local)

2025-06-05T17:00:48.016Z,1749142848.016 [DAT](INFO): DAT read: Range 10 to 50 : 48.7 m  (Round-trip  65.0 ms) speed  0.6 m/s

2025-06-05T17:00:48.017Z,1749142848.017 [DAT](INFO): DAT read: user:2533>

2025-06-05T17:00:48.018Z,1749142848.018 [DAT](INFO): DAT read: Tx time:17:00:47.1611

2025-06-05T17:00:48.019Z,1749142848.019 [DAT](INFO): Ping request sent.
2025-06-05T17:00:48.019Z,1749142848.019 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:48.019Z,1749142848.019 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:00:48.020Z,1749142848.020 [DAT](INFO): direction in FSK: [0.955061,-0.231054,-0.185667]
2025-06-05T17:00:48.020Z,1749142848.020 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:48.020Z,1749142848.020 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:48.028Z,1749142848.028 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:48.028Z,1749142848.028 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:48.207Z,1749142848.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.700001 m,
      deltaT: 3.527930 s,
      deltaX: -2.500000 m,
      approachRate: -0.708631 m/s,
      rangeRepo size: 4

2025-06-05T17:00:48.209Z,1749142848.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.295174 m,
      bearing: 151.865754 deg,
      lat: 36.906269 deg,
      lon: -122.115906 deg,
      deltaT: 3.527930 s,
      deltaX: -2.479702 m,
      approachRate: -0.702877 m/s,
      posRepo size: 4

2025-06-05T17:00:48.214Z,1749142848.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-06-05T17:00:48.223Z,1749142848.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.295174 m,
      nav range: 48.114723 m,
      bearing: 152.212447 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002168 deg/s,
      cmd heading: 163.150229 deg,
      new cmd heading: 163.146528 deg.

2025-06-05T17:00:48.224Z,1749142848.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847444 target range: 48.295174 and range: 48.70 m.
2025-06-05T17:00:48.247Z,1749142848.247 [DAT](INFO): DAT read: TxSync time:17:00:47.1603

2025-06-05T17:00:48.573Z,1749142848.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-06-05T17:00:48.580Z,1749142848.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.295174 m,
      nav range: 47.843155 m,
      bearing: 152.215639 deg,
      approach rate: -0.732903 m/s,
      LOS rate: 0.008663 deg/s,
      cmd heading: 163.146527 deg,
      new cmd heading: 163.156157 deg.

2025-06-05T17:00:48.581Z,1749142848.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847612 target range: 48.295174 and range: 48.70 m.
2025-06-05T17:00:48.947Z,1749142848.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-06-05T17:00:48.952Z,1749142848.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.295174 m,
      nav range: 47.588795 m,
      bearing: 152.218662 deg,
      approach rate: -0.679000 m/s,
      LOS rate: 0.008112 deg/s,
      cmd heading: 163.156157 deg,
      new cmd heading: 163.165274 deg.

2025-06-05T17:00:48.953Z,1749142848.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847771 target range: 48.295174 and range: 48.70 m.
2025-06-05T17:00:49.330Z,1749142849.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-06-05T17:00:49.335Z,1749142849.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.295174 m,
      nav range: 47.335327 m,
      bearing: 152.219698 deg,
      approach rate: -0.662872 m/s,
      LOS rate: 0.002723 deg/s,
      cmd heading: 163.165269 deg,
      new cmd heading: 163.168393 deg.

2025-06-05T17:00:49.336Z,1749142849.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847826 target range: 48.295174 and range: 48.70 m.
2025-06-05T17:00:49.726Z,1749142849.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:49.728Z,1749142849.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-06-05T17:00:49.731Z,1749142849.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.295174 m,
      nav range: 47.071415 m,
      bearing: 152.220988 deg,
      approach rate: -0.662500 m/s,
      LOS rate: 0.003257 deg/s,
      cmd heading: 163.168397 deg,
      new cmd heading: 163.172289 deg.

2025-06-05T17:00:49.733Z,1749142849.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847894 target range: 48.295174 and range: 48.70 m.
2025-06-05T17:00:49.773Z,1749142849.773 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:49.774Z,1749142849.774 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:49.775Z,1749142849.775 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:50.024Z,1749142850.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005447
2025-06-05T17:00:50.275Z,1749142850.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256492
2025-06-05T17:00:50.290Z,1749142850.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-06-05T17:00:50.293Z,1749142850.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.295174 m,
      nav range: 46.702290 m,
      bearing: 152.239665 deg,
      approach rate: -0.656872 m/s,
      LOS rate: 0.033500 deg/s,
      cmd heading: 163.172290 deg,
      new cmd heading: 163.228765 deg.

2025-06-05T17:00:50.294Z,1749142850.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848879 target range: 48.295174 and range: 48.70 m.
2025-06-05T17:00:50.529Z,1749142850.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509917
2025-06-05T17:00:50.630Z,1749142850.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-06-05T17:00:50.635Z,1749142850.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.295174 m,
      nav range: 46.477974 m,
      bearing: 152.251112 deg,
      approach rate: -0.659894 m/s,
      LOS rate: 0.033837 deg/s,
      cmd heading: 163.228762 deg,
      new cmd heading: 163.263269 deg.

2025-06-05T17:00:50.636Z,1749142850.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849482 target range: 48.295174 and range: 48.70 m.
2025-06-05T17:00:50.781Z,1749142850.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762191
2025-06-05T17:00:51.032Z,1749142851.032 [DAT](INFO): DAT read: Rx Time:17:00:49.6272

2025-06-05T17:00:51.035Z,1749142851.035 [DAT](INFO): Rx dataTimestamp_ set to:1749142851.033286
2025-06-05T17:00:51.035Z,1749142851.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016720
2025-06-05T17:00:51.155Z,1749142851.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-06-05T17:00:51.158Z,1749142851.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.295174 m,
      nav range: 46.148216 m,
      bearing: 152.264839 deg,
      approach rate: -0.633521 m/s,
      LOS rate: 0.026561 deg/s,
      cmd heading: 163.263268 deg,
      new cmd heading: 163.304744 deg.

2025-06-05T17:00:51.159Z,1749142851.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.850205 target range: 48.295174 and range: 48.70 m.
2025-06-05T17:00:51.287Z,1749142851.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268758
2025-06-05T17:00:51.513Z,1749142851.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-06-05T17:00:51.516Z,1749142851.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.295174 m,
      nav range: 45.894573 m,
      bearing: 152.275859 deg,
      approach rate: -0.699989 m/s,
      LOS rate: 0.030579 deg/s,
      cmd heading: 163.304741 deg,
      new cmd heading: 163.337983 deg.

2025-06-05T17:00:51.517Z,1749142851.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.850785 target range: 48.295174 and range: 48.70 m.
2025-06-05T17:00:51.553Z,1749142851.553 [DAT](INFO): DAT read: 17:00:49.6272 LVL= 19760, 24113, 15650, 26435, AGC= 62, IDX= 407,-0.50,-0.384,-1.525,-0.026,-0.656, PHS= 0.360,-0.823, 0.627, RAW= 160.0,  -2.5, CAL= 162.9, -10.7, ROT= 347.1,  10.7

2025-06-05T17:00:51.556Z,1749142851.556 [DAT](INFO): got valid direction response:
 17:00:49.6272 LVL= 19760, 24113, 15650, 26435, AGC= 62, IDX= 407,-0.50,-0.384,-1.525,-0.026,-0.656, PHS= 0.360,-0.823, 0.627, RAW= 160.0,  -2.5, CAL= 162.9, -10.7, ROT= 347.1,  10.7

2025-06-05T17:00:51.573Z,1749142851.573 [DAT](INFO): DAT read: Bearing 347.1,  10.7 (Local)

2025-06-05T17:00:51.581Z,1749142851.581 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.1,  10.7 (Local)

2025-06-05T17:00:51.588Z,1749142851.588 [DAT](INFO): DAT read: Range 10 to 50 : 46.5 m  (Round-trip  62.0 ms) speed  0.6 m/s

2025-06-05T17:00:51.599Z,1749142851.599 [DAT](INFO): DAT read: user:2534>

2025-06-05T17:00:51.600Z,1749142851.600 [DAT](INFO): DAT read: Tx time:17:00:50.7111

2025-06-05T17:00:51.601Z,1749142851.601 [DAT](INFO): Ping request sent.
2025-06-05T17:00:51.601Z,1749142851.601 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:51.601Z,1749142851.601 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:00:51.611Z,1749142851.611 [DAT](INFO): direction in FSK: [0.957813,-0.219368,-0.185667]
2025-06-05T17:00:51.612Z,1749142851.612 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:51.612Z,1749142851.612 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:51.628Z,1749142851.628 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:51.629Z,1749142851.629 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:51.787Z,1749142851.787 [DAT](INFO): DAT read: TxSync time:17:00:50.7103

2025-06-05T17:00:51.988Z,1749142851.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.500000 m,
      deltaT: 3.539742 s,
      deltaX: -2.200001 m,
      approachRate: -0.621514 m/s,
      rangeRepo size: 4

2025-06-05T17:00:51.995Z,1749142851.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.112804 m,
      bearing: 152.805712 deg,
      lat: 36.906269 deg,
      lon: -122.115906 deg,
      deltaT: 3.539742 s,
      deltaX: -2.182369 m,
      approachRate: -0.616533 m/s,
      posRepo size: 4

2025-06-05T17:00:51.996Z,1749142851.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.11 m.
2025-06-05T17:00:52.003Z,1749142852.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.112804 m,
      nav range: 45.592133 m,
      bearing: 152.287931 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030579 deg/s,
      cmd heading: 163.337977 deg,
      new cmd heading: 163.381523 deg.

2025-06-05T17:00:52.007Z,1749142852.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851546 target range: 46.112804 and range: 46.50 m.
2025-06-05T17:00:52.304Z,1749142852.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:52.307Z,1749142852.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.11 m.
2025-06-05T17:00:52.310Z,1749142852.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.112804 m,
      nav range: 45.364883 m,
      bearing: 152.296841 deg,
      approach rate: -0.712210 m/s,
      LOS rate: 0.028064 deg/s,
      cmd heading: 163.381526 deg,
      new cmd heading: 163.408390 deg.

2025-06-05T17:00:52.311Z,1749142852.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852015 target range: 46.112804 and range: 46.50 m.
2025-06-05T17:00:52.543Z,1749142852.543 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:52.543Z,1749142852.543 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:52.544Z,1749142852.544 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:52.713Z,1749142852.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.11 m.
2025-06-05T17:00:52.738Z,1749142852.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.112804 m,
      nav range: 45.091850 m,
      bearing: 152.308076 deg,
      approach rate: -0.671046 m/s,
      LOS rate: 0.027782 deg/s,
      cmd heading: 163.408396 deg,
      new cmd heading: 163.442308 deg.

2025-06-05T17:00:52.746Z,1749142852.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852606 target range: 46.112804 and range: 46.50 m.
2025-06-05T17:00:52.800Z,1749142852.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.198482
2025-06-05T17:00:53.049Z,1749142853.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.447817
2025-06-05T17:00:53.160Z,1749142853.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.11 m.
2025-06-05T17:00:53.163Z,1749142853.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.112804 m,
      nav range: 44.791672 m,
      bearing: 152.314617 deg,
      approach rate: -0.672121 m/s,
      LOS rate: 0.014743 deg/s,
      cmd heading: 163.442301 deg,
      new cmd heading: 163.462055 deg.

2025-06-05T17:00:53.164Z,1749142853.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852951 target range: 46.112804 and range: 46.50 m.
2025-06-05T17:00:53.300Z,1749142853.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699350
2025-06-05T17:00:53.554Z,1749142853.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.952285
2025-06-05T17:00:53.568Z,1749142853.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.11 m.
2025-06-05T17:00:53.577Z,1749142853.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.112804 m,
      nav range: 44.537964 m,
      bearing: 152.321202 deg,
      approach rate: -0.621436 m/s,
      LOS rate: 0.016222 deg/s,
      cmd heading: 163.462054 deg,
      new cmd heading: 163.481923 deg.

2025-06-05T17:00:53.584Z,1749142853.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853298 target range: 46.112804 and range: 46.50 m.
2025-06-05T17:00:53.807Z,1749142853.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.204566
2025-06-05T17:00:53.968Z,1749142853.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.11 m.
2025-06-05T17:00:53.972Z,1749142853.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.112804 m,
      nav range: 44.251297 m,
      bearing: 152.325898 deg,
      approach rate: -0.716497 m/s,
      LOS rate: 0.011811 deg/s,
      cmd heading: 163.481917 deg,
      new cmd heading: 163.496093 deg.

2025-06-05T17:00:53.973Z,1749142853.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853545 target range: 46.112804 and range: 46.50 m.
2025-06-05T17:00:54.055Z,1749142854.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454588
2025-06-05T17:00:54.307Z,1749142854.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706282
2025-06-05T17:00:54.351Z,1749142854.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:54.353Z,1749142854.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.11 m.
2025-06-05T17:00:54.357Z,1749142854.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.112804 m,
      nav range: 43.994267 m,
      bearing: 152.330298 deg,
      approach rate: -0.667521 m/s,
      LOS rate: 0.011496 deg/s,
      cmd heading: 163.496096 deg,
      new cmd heading: 163.509376 deg.

2025-06-05T17:00:54.357Z,1749142854.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853777 target range: 46.112804 and range: 46.50 m.
2025-06-05T17:00:54.559Z,1749142854.559 [DAT](INFO): DAT read: Rx Time:17:00:53.1741

2025-06-05T17:00:54.560Z,1749142854.560 [DAT](INFO): Rx dataTimestamp_ set to:1749142854.559353
2025-06-05T17:00:54.560Z,1749142854.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959418
2025-06-05T17:00:54.764Z,1749142854.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.11 m.
2025-06-05T17:00:54.771Z,1749142854.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.112804 m,
      nav range: 43.725025 m,
      bearing: 152.335029 deg,
      approach rate: -0.655543 m/s,
      LOS rate: 0.011588 deg/s,
      cmd heading: 163.509374 deg,
      new cmd heading: 163.523652 deg.

2025-06-05T17:00:54.774Z,1749142854.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.854026 target range: 46.112804 and range: 46.50 m.
2025-06-05T17:00:54.811Z,1749142854.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.210603
2025-06-05T17:00:55.070Z,1749142855.070 [DAT](INFO): DAT read: 17:00:53.1741 LVL= 19760, 29681, 14066, 30851, AGC= 65, IDX= 407,-0.25, 1.545, 0.391, 1.975, 1.321, PHS= 0.312,-0.883, 0.651, RAW= 162.2,  -1.2, CAL= 164.5,  -9.5, ROT= 345.5,   9.5

2025-06-05T17:00:55.071Z,1749142855.071 [DAT](INFO): got valid direction response:
 17:00:53.1741 LVL= 19760, 29681, 14066, 30851, AGC= 65, IDX= 407,-0.25, 1.545, 0.391, 1.975, 1.321, PHS= 0.312,-0.883, 0.651, RAW= 162.2,  -1.2, CAL= 164.5,  -9.5, ROT= 345.5,   9.5

2025-06-05T17:00:55.072Z,1749142855.072 [DAT](INFO): DAT read: Bearing 345.5,   9.5 (Local)

2025-06-05T17:00:55.072Z,1749142855.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.5,   9.5 (Local)

2025-06-05T17:00:55.073Z,1749142855.073 [DAT](INFO): DAT read: Range 10 to 50 : 44.1 m  (Round-trip  58.8 ms) speed  0.7 m/s

2025-06-05T17:00:55.075Z,1749142855.075 [DAT](INFO): DAT read: user:2535>

2025-06-05T17:00:55.075Z,1749142855.075 [DAT](INFO): DAT read: Tx time:17:00:54.2611

2025-06-05T17:00:55.076Z,1749142855.076 [DAT](INFO): Ping request sent.
2025-06-05T17:00:55.076Z,1749142855.076 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:55.076Z,1749142855.076 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:00:55.077Z,1749142855.077 [DAT](INFO): direction in FSK: [0.954870,-0.246946,-0.165048]
2025-06-05T17:00:55.077Z,1749142855.077 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:55.078Z,1749142855.078 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:55.081Z,1749142855.081 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:55.081Z,1749142855.081 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:55.298Z,1749142855.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.099998 m,
      deltaT: 3.527507 s,
      deltaX: -2.400002 m,
      approachRate: -0.680368 m/s,
      rangeRepo size: 4

2025-06-05T17:00:55.308Z,1749142855.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.732967 m,
      bearing: 150.546171 deg,
      lat: 36.906269 deg,
      lon: -122.115906 deg,
      deltaT: 3.527507 s,
      deltaX: -2.379837 m,
      approachRate: -0.674651 m/s,
      posRepo size: 4

2025-06-05T17:00:55.309Z,1749142855.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.73 m.
2025-06-05T17:00:55.316Z,1749142855.316 [DAT](INFO): DAT read: TxSync time:17:00:54.2603

2025-06-05T17:00:55.324Z,1749142855.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.732967 m,
      nav range: 43.367390 m,
      bearing: 152.329550 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011588 deg/s,
      cmd heading: 163.523649 deg,
      new cmd heading: 163.542173 deg.

2025-06-05T17:00:55.325Z,1749142855.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.854349 target range: 43.732967 and range: 44.10 m.
2025-06-05T17:00:55.605Z,1749142855.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.73 m.
2025-06-05T17:00:55.619Z,1749142855.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.732967 m,
      nav range: 43.152275 m,
      bearing: 152.325432 deg,
      approach rate: -0.697028 m/s,
      LOS rate: -0.013410 deg/s,
      cmd heading: 163.542172 deg,
      new cmd heading: 163.529757 deg.

2025-06-05T17:00:55.620Z,1749142855.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.854133 target range: 43.732967 and range: 44.10 m.
2025-06-05T17:00:56.019Z,1749142856.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.73 m.
2025-06-05T17:00:56.022Z,1749142856.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.732967 m,
      nav range: 42.864803 m,
      bearing: 152.324540 deg,
      approach rate: -0.694620 m/s,
      LOS rate: -0.002169 deg/s,
      cmd heading: 163.529755 deg,
      new cmd heading: 163.527062 deg.

2025-06-05T17:00:56.023Z,1749142856.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.854086 target range: 43.732967 and range: 44.10 m.
2025-06-05T17:00:56.395Z,1749142856.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:56.397Z,1749142856.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.73 m.
2025-06-05T17:00:56.401Z,1749142856.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.732967 m,
      nav range: 42.606171 m,
      bearing: 152.321566 deg,
      approach rate: -0.685472 m/s,
      LOS rate: -0.007929 deg/s,
      cmd heading: 163.527064 deg,
      new cmd heading: 163.518089 deg.

2025-06-05T17:00:56.403Z,1749142856.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853929 target range: 43.732967 and range: 44.10 m.
2025-06-05T17:00:56.575Z,1749142856.575 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:00:56.575Z,1749142856.575 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:00:56.575Z,1749142856.575 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:00:56.804Z,1749142856.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.73 m.
2025-06-05T17:00:56.807Z,1749142856.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.732967 m,
      nav range: 42.328903 m,
      bearing: 152.318338 deg,
      approach rate: -0.680409 m/s,
      LOS rate: -0.007974 deg/s,
      cmd heading: 163.518089 deg,
      new cmd heading: 163.508341 deg.

2025-06-05T17:00:56.808Z,1749142856.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853759 target range: 43.732967 and range: 44.10 m.
2025-06-05T17:00:56.827Z,1749142856.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751254
2025-06-05T17:00:57.079Z,1749142857.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003206
2025-06-05T17:00:57.268Z,1749142857.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.73 m.
2025-06-05T17:00:57.276Z,1749142857.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.732967 m,
      nav range: 42.039131 m,
      bearing: 152.311642 deg,
      approach rate: -0.624152 m/s,
      LOS rate: -0.014523 deg/s,
      cmd heading: 163.508336 deg,
      new cmd heading: 163.488109 deg.

2025-06-05T17:00:57.277Z,1749142857.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853406 target range: 43.732967 and range: 44.10 m.
2025-06-05T17:00:57.332Z,1749142857.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255683
2025-06-05T17:00:57.585Z,1749142857.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508925
2025-06-05T17:00:57.626Z,1749142857.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.73 m.
2025-06-05T17:00:57.629Z,1749142857.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.732967 m,
      nav range: 41.788933 m,
      bearing: 152.305416 deg,
      approach rate: -0.708751 m/s,
      LOS rate: -0.017744 deg/s,
      cmd heading: 163.488105 deg,
      new cmd heading: 163.469313 deg.

2025-06-05T17:00:57.635Z,1749142857.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853078 target range: 43.732967 and range: 44.10 m.
2025-06-05T17:00:57.835Z,1749142857.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759425
2025-06-05T17:00:58.023Z,1749142858.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.73 m.
2025-06-05T17:00:58.051Z,1749142858.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.732967 m,
      nav range: 41.510201 m,
      bearing: 152.301402 deg,
      approach rate: -0.695653 m/s,
      LOS rate: -0.010083 deg/s,
      cmd heading: 163.469308 deg,
      new cmd heading: 163.457188 deg.

2025-06-05T17:00:58.052Z,1749142858.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852866 target range: 43.732967 and range: 44.10 m.
2025-06-05T17:00:58.087Z,1749142858.087 [DAT](INFO): DAT read: Rx Time:17:00:56.7208

2025-06-05T17:00:58.088Z,1749142858.088 [DAT](INFO): Rx dataTimestamp_ set to:1749142858.087445
2025-06-05T17:00:58.088Z,1749142858.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012457
2025-06-05T17:00:58.339Z,1749142858.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263276
2025-06-05T17:00:58.427Z,1749142858.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:00:58.429Z,1749142858.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.73 m.
2025-06-05T17:00:58.436Z,1749142858.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.732967 m,
      nav range: 41.246044 m,
      bearing: 152.297180 deg,
      approach rate: -0.649762 m/s,
      LOS rate: -0.010453 deg/s,
      cmd heading: 163.457191 deg,
      new cmd heading: 163.444443 deg.

2025-06-05T17:00:58.437Z,1749142858.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852644 target range: 43.732967 and range: 44.10 m.
2025-06-05T17:00:58.600Z,1749142858.600 [DAT](INFO): DAT read: 17:00:56.7208 LVL= 20720, 24785, 15314, 30195, AGC= 63, IDX= 404, 0.22,-0.300,-1.482, 0.138,-0.510, PHS= 0.298,-0.925, 0.645, RAW= 162.2,  -0.2, CAL= 164.2,  -8.7, ROT= 345.8,   8.7

2025-06-05T17:00:58.602Z,1749142858.602 [DAT](INFO): got valid direction response:
 17:00:56.7208 LVL= 20720, 24785, 15314, 30195, AGC= 63, IDX= 404, 0.22,-0.300,-1.482, 0.138,-0.510, PHS= 0.298,-0.925, 0.645, RAW= 162.2,  -0.2, CAL= 164.2,  -8.7, ROT= 345.8,   8.7

2025-06-05T17:00:58.604Z,1749142858.604 [DAT](INFO): DAT read: Bearing 345.8,   8.7 (Local)

2025-06-05T17:00:58.605Z,1749142858.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.8,   8.7 (Local)

2025-06-05T17:00:58.631Z,1749142858.631 [DAT](INFO): DAT read: Range 10 to 50 : 41.5 m  (Round-trip  55.4 ms) speed  0.6 m/s

2025-06-05T17:00:58.632Z,1749142858.632 [DAT](INFO): DAT read: user:2536>

2025-06-05T17:00:58.632Z,1749142858.632 [DAT](INFO): DAT read: Tx time:17:00:57.8112

2025-06-05T17:00:58.633Z,1749142858.633 [DAT](INFO): Ping request sent.
2025-06-05T17:00:58.633Z,1749142858.633 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:00:58.633Z,1749142858.633 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:00:58.639Z,1749142858.639 [DAT](INFO): direction in FSK: [0.958291,-0.242485,-0.151261]
2025-06-05T17:00:58.640Z,1749142858.640 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:58.640Z,1749142858.640 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:58.654Z,1749142858.654 [DAT](INFO): publishing transmit ping time
2025-06-05T17:00:58.654Z,1749142858.654 [DAT](INFO): publishing direction and range info
2025-06-05T17:00:58.843Z,1749142858.843 [DAT](INFO): DAT read: TxSync time:17:00:57.8104

2025-06-05T17:00:58.851Z,1749142858.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.500000 m,
      deltaT: 3.528418 s,
      deltaX: -2.599998 m,
      approachRate: -0.736874 m/s,
      rangeRepo size: 4

2025-06-05T17:00:58.853Z,1749142858.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.155895 m,
      bearing: 151.442411 deg,
      lat: 36.906272 deg,
      lon: -122.115904 deg,
      deltaT: 3.528418 s,
      deltaX: -2.577072 m,
      approachRate: -0.730376 m/s,
      posRepo size: 4

2025-06-05T17:00:58.858Z,1749142858.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.16 m.
2025-06-05T17:00:58.867Z,1749142858.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.155895 m,
      nav range: 40.763271 m,
      bearing: 151.885640 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010453 deg/s,
      cmd heading: 163.444446 deg,
      new cmd heading: 163.431363 deg.

2025-06-05T17:00:58.868Z,1749142858.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852415 target range: 41.155895 and range: 41.50 m.
2025-06-05T17:00:59.305Z,1749142859.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.16 m.
2025-06-05T17:00:59.312Z,1749142859.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.155895 m,
      nav range: 40.457947 m,
      bearing: 151.876596 deg,
      approach rate: -0.664561 m/s,
      LOS rate: -0.019834 deg/s,
      cmd heading: 163.431359 deg,
      new cmd heading: 163.404022 deg.

2025-06-05T17:00:59.313Z,1749142859.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851938 target range: 41.155895 and range: 41.50 m.
2025-06-05T17:00:59.643Z,1749142859.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.16 m.
2025-06-05T17:00:59.646Z,1749142859.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.155895 m,
      nav range: 40.216373 m,
      bearing: 151.868380 deg,
      approach rate: -0.714807 m/s,
      LOS rate: -0.024456 deg/s,
      cmd heading: 163.404025 deg,
      new cmd heading: 163.379230 deg.

2025-06-05T17:00:59.647Z,1749142859.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851506 target range: 41.155895 and range: 41.50 m.
2025-06-05T17:01:00.057Z,1749142860.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.16 m.
2025-06-05T17:01:00.060Z,1749142860.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.155895 m,
      nav range: 39.948917 m,
      bearing: 151.865289 deg,
      approach rate: -0.646604 m/s,
      LOS rate: -0.007523 deg/s,
      cmd heading: 163.379231 deg,
      new cmd heading: 163.369896 deg.

2025-06-05T17:01:00.061Z,1749142860.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851343 target range: 41.155895 and range: 41.50 m.
2025-06-05T17:01:00.445Z,1749142860.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:00.447Z,1749142860.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.16 m.
2025-06-05T17:01:00.452Z,1749142860.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.155895 m,
      nav range: 39.695675 m,
      bearing: 151.862266 deg,
      approach rate: -0.649256 m/s,
      LOS rate: -0.007799 deg/s,
      cmd heading: 163.369901 deg,
      new cmd heading: 163.360775 deg.

2025-06-05T17:01:00.453Z,1749142860.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851183 target range: 41.155895 and range: 41.50 m.
2025-06-05T17:01:00.607Z,1749142860.607 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:01:00.607Z,1749142860.607 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:01:00.607Z,1749142860.607 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:01:00.859Z,1749142860.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226410
2025-06-05T17:01:00.862Z,1749142860.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.16 m.
2025-06-05T17:01:00.866Z,1749142860.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.155895 m,
      nav range: 39.426632 m,
      bearing: 151.859012 deg,
      approach rate: -0.648220 m/s,
      LOS rate: -0.007893 deg/s,
      cmd heading: 163.360776 deg,
      new cmd heading: 163.350948 deg.

2025-06-05T17:01:00.868Z,1749142860.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851012 target range: 41.155895 and range: 41.50 m.
2025-06-05T17:01:01.111Z,1749142861.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478551
2025-06-05T17:01:01.322Z,1749142861.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.16 m.
2025-06-05T17:01:01.325Z,1749142861.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.155895 m,
      nav range: 39.129734 m,
      bearing: 151.861965 deg,
      approach rate: -0.645586 m/s,
      LOS rate: 0.006470 deg/s,
      cmd heading: 163.350954 deg,
      new cmd heading: 163.359881 deg.

2025-06-05T17:01:01.326Z,1749142861.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851168 target range: 41.155895 and range: 41.50 m.
2025-06-05T17:01:01.366Z,1749142861.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733078
2025-06-05T17:01:01.615Z,1749142861.615 [DAT](INFO): DAT read: Rx Time:17:01:00.2676

2025-06-05T17:01:01.616Z,1749142861.616 [DAT](INFO): Rx dataTimestamp_ set to:1749142861.615277
2025-06-05T17:01:01.616Z,1749142861.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983341
2025-06-05T17:01:01.700Z,1749142861.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.16 m.
2025-06-05T17:01:01.704Z,1749142861.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.155895 m,
      nav range: 38.885376 m,
      bearing: 151.864337 deg,
      approach rate: -0.646460 m/s,
      LOS rate: 0.006313 deg/s,
      cmd heading: 163.359875 deg,
      new cmd heading: 163.367034 deg.

2025-06-05T17:01:01.705Z,1749142861.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851293 target range: 41.155895 and range: 41.50 m.
2025-06-05T17:01:01.868Z,1749142861.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234995
2025-06-05T17:01:02.125Z,1749142862.125 [DAT](INFO): DAT read: 17:01:00.2676 LVL= 19440, 24929, 16162, 29379, AGC= 62, IDX= 404, 0.18,-1.782,-2.929,-1.334,-1.992, PHS= 0.298,-0.890, 0.655, RAW= 162.8,  -0.9, CAL= 164.9,  -9.2, ROT= 345.1,   9.2

2025-06-05T17:01:02.126Z,1749142862.126 [DAT](INFO): got valid direction response:
 17:01:00.2676 LVL= 19440, 24929, 16162, 29379, AGC= 62, IDX= 404, 0.18,-1.782,-2.929,-1.334,-1.992, PHS= 0.298,-0.890, 0.655, RAW= 162.8,  -0.9, CAL= 164.9,  -9.2, ROT= 345.1,   9.2

2025-06-05T17:01:02.127Z,1749142862.127 [DAT](INFO): DAT read: Bearing 345.1,   9.2 (Local)

2025-06-05T17:01:02.127Z,1749142862.127 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.1,   9.2 (Local)

2025-06-05T17:01:02.129Z,1749142862.129 [DAT](INFO): DAT read: Range 10 to 50 : 39.2 m  (Round-trip  52.3 ms) speed  0.8 m/s

2025-06-05T17:01:02.130Z,1749142862.130 [DAT](INFO): DAT read: user:2537>

2025-06-05T17:01:02.130Z,1749142862.130 [DAT](INFO): DAT read: Tx time:17:01:01.3612

2025-06-05T17:01:02.131Z,1749142862.131 [DAT](INFO): Ping request sent.
2025-06-05T17:01:02.131Z,1749142862.131 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:02.131Z,1749142862.131 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:01:02.134Z,1749142862.134 [DAT](INFO): direction in FSK: [0.953945,-0.253825,-0.159881]
2025-06-05T17:01:02.135Z,1749142862.135 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:02.135Z,1749142862.135 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:02.138Z,1749142862.138 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:02.138Z,1749142862.138 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:02.260Z,1749142862.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.200001 m,
      deltaT: 3.527684 s,
      deltaX: -2.299999 m,
      approachRate: -0.651986 m/s,
      rangeRepo size: 4

2025-06-05T17:01:02.279Z,1749142862.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.874481 m,
      bearing: 151.102459 deg,
      lat: 36.906272 deg,
      lon: -122.115901 deg,
      deltaT: 3.527684 s,
      deltaX: -2.281414 m,
      approachRate: -0.646717 m/s,
      posRepo size: 4

2025-06-05T17:01:02.280Z,1749142862.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.87 m.
2025-06-05T17:01:02.291Z,1749142862.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.874481 m,
      nav range: 38.656223 m,
      bearing: 151.399677 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006313 deg/s,
      cmd heading: 163.367033 deg,
      new cmd heading: 163.377633 deg.

2025-06-05T17:01:02.292Z,1749142862.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851478 target range: 38.874481 and range: 39.20 m.
2025-06-05T17:01:02.371Z,1749142862.371 [DAT](INFO): DAT read: TxSync time:17:01:01.3604

2025-06-05T17:01:02.593Z,1749142862.593 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-05T17:01:02.593Z,1749142862.593 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T17:01:02.593Z,1749142862.593 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-05T17:01:02.597Z,1749142862.597 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.200001 m (mode  2.000000 count ).
2025-06-05T17:01:02.597Z,1749142862.597 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-05T17:01:02.597Z,1749142862.597 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-05T17:01:02.598Z,1749142862.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:02.613Z,1749142862.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.87 m.
2025-06-05T17:01:02.620Z,1749142862.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.874481 m,
      nav range: 38.413860 m,
      bearing: 151.399761 deg,
      approach rate: -0.684910 m/s,
      LOS rate: 0.000240 deg/s,
      cmd heading: 163.377633 deg,
      new cmd heading: 163.377888 deg.

2025-06-05T17:01:02.621Z,1749142862.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851482 target range: 38.874481 and range: 39.20 m.
2025-06-05T17:01:02.623Z,1749142862.623 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:01:02.623Z,1749142862.623 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:01:02.623Z,1749142862.623 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:01:02.877Z,1749142862.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746336
2025-06-05T17:01:03.060Z,1749142863.060 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-05T17:01:03.060Z,1749142863.060 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-05T17:01:03.063Z,1749142863.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.87 m.
2025-06-05T17:01:03.067Z,1749142863.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.874481 m,
      nav range: 38.118328 m,
      bearing: 151.400005 deg,
      approach rate: -0.657674 m/s,
      LOS rate: 0.000548 deg/s,
      cmd heading: 163.377893 deg,
      new cmd heading: 163.378631 deg.

2025-06-05T17:01:03.068Z,1749142863.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851495 target range: 38.874481 and range: 39.20 m.
2025-06-05T17:01:03.128Z,1749142863.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996984
2025-06-05T17:01:03.379Z,1749142863.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248224
2025-06-05T17:01:03.444Z,1749142863.444 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-05T17:01:03.445Z,1749142863.445 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-05T17:01:03.447Z,1749142863.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.87 m.
2025-06-05T17:01:03.451Z,1749142863.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.874481 m,
      nav range: 37.884682 m,
      bearing: 151.400201 deg,
      approach rate: -0.607957 m/s,
      LOS rate: 0.000513 deg/s,
      cmd heading: 163.378630 deg,
      new cmd heading: 163.379221 deg.

2025-06-05T17:01:03.452Z,1749142863.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851505 target range: 38.874481 and range: 39.20 m.
2025-06-05T17:01:03.632Z,1749142863.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501115
2025-06-05T17:01:03.875Z,1749142863.875 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-05T17:01:03.875Z,1749142863.875 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T17:01:03.875Z,1749142863.875 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-05T17:01:03.875Z,1749142863.875 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T17:01:03.877Z,1749142863.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.87 m.
2025-06-05T17:01:03.880Z,1749142863.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.874481 m,
      nav range: 37.603527 m,
      bearing: 151.401549 deg,
      approach rate: -0.653533 m/s,
      LOS rate: 0.003156 deg/s,
      cmd heading: 163.379218 deg,
      new cmd heading: 163.383291 deg.

2025-06-05T17:01:03.881Z,1749142863.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851576 target range: 38.874481 and range: 39.20 m.
2025-06-05T17:01:03.884Z,1749142863.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753324
2025-06-05T17:01:04.135Z,1749142864.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004201
2025-06-05T17:01:04.338Z,1749142864.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.87 m.
2025-06-05T17:01:04.341Z,1749142864.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.874481 m,
      nav range: 37.308224 m,
      bearing: 151.406118 deg,
      approach rate: -0.641324 m/s,
      LOS rate: 0.010000 deg/s,
      cmd heading: 163.383289 deg,
      new cmd heading: 163.397103 deg.

2025-06-05T17:01:04.342Z,1749142864.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851817 target range: 38.874481 and range: 39.20 m.
2025-06-05T17:01:04.387Z,1749142864.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256374
2025-06-05T17:01:04.643Z,1749142864.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511637
2025-06-05T17:01:04.742Z,1749142864.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:04.745Z,1749142864.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.87 m.
2025-06-05T17:01:04.748Z,1749142864.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.874481 m,
      nav range: 37.046429 m,
      bearing: 151.410129 deg,
      approach rate: -0.643527 m/s,
      LOS rate: 0.009931 deg/s,
      cmd heading: 163.397099 deg,
      new cmd heading: 163.409220 deg.

2025-06-05T17:01:04.749Z,1749142864.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852029 target range: 38.874481 and range: 39.20 m.
2025-06-05T17:01:04.893Z,1749142864.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761693
2025-06-05T17:01:05.143Z,1749142865.143 [DAT](INFO): DAT read: Rx Time:17:01:03.8147

2025-06-05T17:01:05.144Z,1749142865.144 [DAT](INFO): Rx dataTimestamp_ set to:1749142865.143412
2025-06-05T17:01:05.144Z,1749142865.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013311
2025-06-05T17:01:05.178Z,1749142865.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.87 m.
2025-06-05T17:01:05.181Z,1749142865.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.874481 m,
      nav range: 36.765430 m,
      bearing: 151.403181 deg,
      approach rate: -0.648367 m/s,
      LOS rate: -0.016156 deg/s,
      cmd heading: 163.409216 deg,
      new cmd heading: 163.388210 deg.

2025-06-05T17:01:05.183Z,1749142865.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851662 target range: 38.874481 and range: 39.20 m.
2025-06-05T17:01:05.396Z,1749142865.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264763
2025-06-05T17:01:05.556Z,1749142865.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.87 m.
2025-06-05T17:01:05.589Z,1749142865.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.874481 m,
      nav range: 36.523907 m,
      bearing: 151.397347 deg,
      approach rate: -0.638727 m/s,
      LOS rate: -0.015530 deg/s,
      cmd heading: 163.388206 deg,
      new cmd heading: 163.370589 deg.

2025-06-05T17:01:05.605Z,1749142865.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851355 target range: 38.874481 and range: 39.20 m.
2025-06-05T17:01:05.655Z,1749142865.655 [DAT](INFO): DAT read: 17:01:03.8147 LVL= 22080, 25457, 15730, 29251, AGC= 63, IDX= 406,-0.18, 1.769, 0.594, 2.198, 1.589, PHS= 0.267,-0.948, 0.606, RAW= 161.9,   1.1, CAL= 163.6,  -7.6, ROT= 346.4,   7.6

2025-06-05T17:01:05.656Z,1749142865.656 [DAT](INFO): got valid direction response:
 17:01:03.8147 LVL= 22080, 25457, 15730, 29251, AGC= 63, IDX= 406,-0.18, 1.769, 0.594, 2.198, 1.589, PHS= 0.267,-0.948, 0.606, RAW= 161.9,   1.1, CAL= 163.6,  -7.6, ROT= 346.4,   7.6

2025-06-05T17:01:05.656Z,1749142865.656 [DAT](INFO): DAT read: Bearing 346.4,   7.6 (Local)

2025-06-05T17:01:05.657Z,1749142865.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.4,   7.6 (Local)

2025-06-05T17:01:05.658Z,1749142865.658 [DAT](INFO): DAT read: Range 10 to 50 : 37.0 m  (Round-trip  49.4 ms) speed  0.6 m/s

2025-06-05T17:01:05.659Z,1749142865.659 [DAT](INFO): DAT read: user:2538>

2025-06-05T17:01:05.660Z,1749142865.660 [DAT](INFO): DAT read: Tx time:17:01:04.9112

2025-06-05T17:01:05.660Z,1749142865.660 [DAT](INFO): Ping request sent.
2025-06-05T17:01:05.660Z,1749142865.660 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:05.661Z,1749142865.661 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:01:05.661Z,1749142865.661 [DAT](INFO): direction in FSK: [0.963423,-0.233077,-0.132256]
2025-06-05T17:01:05.664Z,1749142865.664 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:05.664Z,1749142865.664 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:05.667Z,1749142865.667 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:05.668Z,1749142865.668 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:05.901Z,1749142865.901 [DAT](INFO): DAT read: TxSync time:17:01:04.9104

2025-06-05T17:01:05.973Z,1749142865.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.000000 m,
      deltaT: 3.528147 s,
      deltaX: -2.200001 m,
      approachRate: -0.623557 m/s,
      rangeRepo size: 4

2025-06-05T17:01:05.975Z,1749142865.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.691635 m,
      bearing: 152.078795 deg,
      lat: 36.906272 deg,
      lon: -122.115901 deg,
      deltaT: 3.528147 s,
      deltaX: -2.182846 m,
      approachRate: -0.618695 m/s,
      posRepo size: 4

2025-06-05T17:01:05.976Z,1749142865.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m.
2025-06-05T17:01:05.995Z,1749142865.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.691635 m,
      nav range: 36.263386 m,
      bearing: 151.390757 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015530 deg/s,
      cmd heading: 163.370584 deg,
      new cmd heading: 163.351190 deg.

2025-06-05T17:01:05.997Z,1749142865.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851016 target range: 36.691635 and range: 37.00 m.
2025-06-05T17:01:06.419Z,1749142866.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m.
2025-06-05T17:01:06.422Z,1749142866.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.691635 m,
      nav range: 35.956062 m,
      bearing: 151.379091 deg,
      approach rate: -0.688060 m/s,
      LOS rate: -0.026341 deg/s,
      cmd heading: 163.351187 deg,
      new cmd heading: 163.315891 deg.

2025-06-05T17:01:06.423Z,1749142866.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.850400 target range: 36.691635 and range: 37.00 m.
2025-06-05T17:01:06.761Z,1749142866.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:06.764Z,1749142866.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m.
2025-06-05T17:01:06.767Z,1749142866.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.691635 m,
      nav range: 35.727512 m,
      bearing: 151.368781 deg,
      approach rate: -0.663379 m/s,
      LOS rate: -0.030118 deg/s,
      cmd heading: 163.315888 deg,
      new cmd heading: 163.284759 deg.

2025-06-05T17:01:06.768Z,1749142866.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849857 target range: 36.691635 and range: 37.00 m.
2025-06-05T17:01:06.907Z,1749142866.907 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:01:06.907Z,1749142866.907 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:01:06.907Z,1749142866.907 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T17:01:07.160Z,1749142867.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499351
2025-06-05T17:01:07.220Z,1749142867.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m.
2025-06-05T17:01:07.223Z,1749142867.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.691635 m,
      nav range: 35.418198 m,
      bearing: 151.349687 deg,
      approach rate: -0.677368 m/s,
      LOS rate: -0.042178 deg/s,
      cmd heading: 163.284756 deg,
      new cmd heading: 163.226975 deg.

2025-06-05T17:01:07.224Z,1749142867.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848848 target range: 36.691635 and range: 37.00 m.
2025-06-05T17:01:07.411Z,1749142867.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750882
2025-06-05T17:01:07.572Z,1749142867.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m.
2025-06-05T17:01:07.575Z,1749142867.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.691635 m,
      nav range: 35.179729 m,
      bearing: 151.334612 deg,
      approach rate: -0.678613 m/s,
      LOS rate: -0.043191 deg/s,
      cmd heading: 163.226973 deg,
      new cmd heading: 163.181440 deg.

2025-06-05T17:01:07.576Z,1749142867.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848053 target range: 36.691635 and range: 37.00 m.
2025-06-05T17:01:07.664Z,1749142867.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003693
2025-06-05T17:01:07.916Z,1749142867.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255382
2025-06-05T17:01:07.972Z,1749142867.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m.
2025-06-05T17:01:07.985Z,1749142867.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.691635 m,
      nav range: 34.914421 m,
      bearing: 151.317943 deg,
      approach rate: -0.662602 m/s,
      LOS rate: -0.041945 deg/s,
      cmd heading: 163.181443 deg,
      new cmd heading: 163.131058 deg.

2025-06-05T17:01:07.990Z,1749142867.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847174 target range: 36.691635 and range: 37.00 m.
2025-06-05T17:01:08.168Z,1749142868.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507766
2025-06-05T17:01:08.419Z,1749142868.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758959
2025-06-05T17:01:08.443Z,1749142868.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m.
2025-06-05T17:01:08.445Z,1749142868.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.691635 m,
      nav range: 34.581211 m,
      bearing: 151.292133 deg,
      approach rate: -0.708584 m/s,
      LOS rate: -0.055416 deg/s,
      cmd heading: 163.131063 deg,
      new cmd heading: 163.052886 deg.

2025-06-05T17:01:08.460Z,1749142868.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.845810 target range: 36.691635 and range: 37.00 m.
2025-06-05T17:01:08.671Z,1749142868.671 [DAT](INFO): DAT read: Rx Time:17:01:07.3615

2025-06-05T17:01:08.672Z,1749142868.672 [DAT](INFO): Rx dataTimestamp_ set to:1749142868.671382
2025-06-05T17:01:08.672Z,1749142868.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011966
2025-06-05T17:01:08.781Z,1749142868.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:08.789Z,1749142868.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m.
2025-06-05T17:01:08.796Z,1749142868.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.691635 m,
      nav range: 34.354733 m,
      bearing: 151.274692 deg,
      approach rate: -0.653437 m/s,
      LOS rate: -0.050654 deg/s,
      cmd heading: 163.052885 deg,
      new cmd heading: 163.000216 deg.

2025-06-05T17:01:08.797Z,1749142868.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.844890 target range: 36.691635 and range: 37.00 m.
2025-06-05T17:01:08.927Z,1749142868.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266690
2025-06-05T17:01:09.188Z,1749142869.188 [DAT](INFO): DAT read: 17:01:07.3615 LVL= 20944, 24833, 14210, 28147, AGC= 63, IDX= 404, 0.46, 0.137,-1.066, 0.590,-0.064, PHS= 0.288,-0.955, 0.651, RAW= 162.4,   0.2, CAL= 164.3,  -8.3, ROT= 345.7,   8.3

2025-06-05T17:01:09.189Z,1749142869.189 [DAT](INFO): got valid direction response:
 17:01:07.3615 LVL= 20944, 24833, 14210, 28147, AGC= 63, IDX= 404, 0.46, 0.137,-1.066, 0.590,-0.064, PHS= 0.288,-0.955, 0.651, RAW= 162.4,   0.2, CAL= 164.3,  -8.3, ROT= 345.7,   8.3

2025-06-05T17:01:09.190Z,1749142869.190 [DAT](INFO): DAT read: Bearing 345.7,   8.3 (Local)

2025-06-05T17:01:09.195Z,1749142869.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.7,   8.3 (Local)

2025-06-05T17:01:09.196Z,1749142869.196 [DAT](INFO): DAT read: Range 10 to 50 : 34.5 m  (Round-trip  46.1 ms) speed  0.8 m/s

2025-06-05T17:01:09.197Z,1749142869.197 [DAT](INFO): DAT read: user:2539>

2025-06-05T17:01:09.198Z,1749142869.198 [DAT](INFO): DAT read: Tx time:17:01:08.4612

2025-06-05T17:01:09.202Z,1749142869.202 [DAT](INFO): Ping request sent.
2025-06-05T17:01:09.202Z,1749142869.202 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:09.203Z,1749142869.203 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:01:09.204Z,1749142869.204 [DAT](INFO): direction in FSK: [0.958866,-0.244411,-0.144356]
2025-06-05T17:01:09.204Z,1749142869.204 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:09.204Z,1749142869.204 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:09.244Z,1749142869.244 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:09.244Z,1749142869.244 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:09.259Z,1749142869.259 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.057055
2025-06-05T17:01:09.357Z,1749142869.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.500000 m,
      deltaT: 3.528913 s,
      deltaX: -2.500000 m,
      approachRate: -0.708433 m/s,
      rangeRepo size: 4

2025-06-05T17:01:09.364Z,1749142869.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.210781 m,
      bearing: 151.621349 deg,
      lat: 36.906272 deg,
      lon: -122.115901 deg,
      deltaT: 3.528913 s,
      deltaX: -2.480854 m,
      approachRate: -0.703008 m/s,
      posRepo size: 4

2025-06-05T17:01:09.365Z,1749142869.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.21 m.
2025-06-05T17:01:09.379Z,1749142869.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.210781 m,
      nav range: 33.954411 m,
      bearing: 151.229731 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050654 deg/s,
      cmd heading: 163.000211 deg,
      new cmd heading: 162.913903 deg.

2025-06-05T17:01:09.380Z,1749142869.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.843384 target range: 34.210781 and range: 34.50 m.
2025-06-05T17:01:09.429Z,1749142869.429 [DAT](INFO): DAT read: TxSync time:17:01:08.4605

2025-06-05T17:01:09.432Z,1749142869.432 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.229513
2025-06-05T17:01:09.683Z,1749142869.683 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.480748
2025-06-05T17:01:09.694Z,1749142869.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.21 m.
2025-06-05T17:01:09.706Z,1749142869.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.210781 m,
      nav range: 33.699738 m,
      bearing: 151.210261 deg,
      approach rate: -0.756076 m/s,
      LOS rate: -0.058241 deg/s,
      cmd heading: 162.913904 deg,
      new cmd heading: 162.855051 deg.

2025-06-05T17:01:09.707Z,1749142869.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.842357 target range: 34.210781 and range: 34.50 m.
2025-06-05T17:01:09.931Z,1749142869.931 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.728704
2025-06-05T17:01:10.119Z,1749142870.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.21 m.
2025-06-05T17:01:10.139Z,1749142870.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.210781 m,
      nav range: 33.434174 m,
      bearing: 151.189635 deg,
      approach rate: -0.632152 m/s,
      LOS rate: -0.049487 deg/s,
      cmd heading: 162.855055 deg,
      new cmd heading: 162.792688 deg.

2025-06-05T17:01:10.140Z,1749142870.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.841268 target range: 34.210781 and range: 34.50 m.
2025-06-05T17:01:10.184Z,1749142870.184 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.981857
2025-06-05T17:01:10.435Z,1749142870.435 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.232735
2025-06-05T17:01:10.513Z,1749142870.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.21 m.
2025-06-05T17:01:10.519Z,1749142870.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.210781 m,
      nav range: 33.127388 m,
      bearing: 151.154038 deg,
      approach rate: -0.767582 m/s,
      LOS rate: -0.089890 deg/s,
      cmd heading: 162.792682 deg,
      new cmd heading: 162.684901 deg.

2025-06-05T17:01:10.521Z,1749142870.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839387 target range: 34.210781 and range: 34.50 m.
2025-06-05T17:01:10.687Z,1749142870.687 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.485004
2025-06-05T17:01:10.873Z,1749142870.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:10.894Z,1749142870.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.21 m.
2025-06-05T17:01:10.904Z,1749142870.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.210781 m,
      nav range: 32.872917 m,
      bearing: 151.126005 deg,
      approach rate: -0.699830 m/s,
      LOS rate: -0.077691 deg/s,
      cmd heading: 162.684902 deg,
      new cmd heading: 162.600153 deg.

2025-06-05T17:01:10.905Z,1749142870.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.837908 target range: 34.210781 and range: 34.50 m.
2025-06-05T17:01:10.939Z,1749142870.939 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.737113
2025-06-05T17:01:11.191Z,1749142871.191 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.988778
2025-06-05T17:01:11.309Z,1749142871.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.21 m.
2025-06-05T17:01:11.312Z,1749142871.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.210781 m,
      nav range: 32.591057 m,
      bearing: 151.100247 deg,
      approach rate: -0.652844 m/s,
      LOS rate: -0.060178 deg/s,
      cmd heading: 162.600153 deg,
      new cmd heading: 162.522209 deg.

2025-06-05T17:01:11.313Z,1749142871.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.836548 target range: 34.210781 and range: 34.50 m.
2025-06-05T17:01:11.444Z,1749142871.444 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.241379
2025-06-05T17:01:11.695Z,1749142871.695 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.492865
2025-06-05T17:01:11.725Z,1749142871.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.21 m.
2025-06-05T17:01:11.740Z,1749142871.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.210781 m,
      nav range: 32.331627 m,
      bearing: 151.077224 deg,
      approach rate: -0.624029 m/s,
      LOS rate: -0.055822 deg/s,
      cmd heading: 162.522207 deg,
      new cmd heading: 162.452585 deg.

2025-06-05T17:01:11.741Z,1749142871.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835332 target range: 34.210781 and range: 34.50 m.
2025-06-05T17:01:11.947Z,1749142871.947 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.745021
2025-06-05T17:01:12.176Z,1749142872.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.21 m.
2025-06-05T17:01:12.189Z,1749142872.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.210781 m,
      nav range: 32.040886 m,
      bearing: 151.051194 deg,
      approach rate: -0.652603 m/s,
      LOS rate: -0.058959 deg/s,
      cmd heading: 162.452580 deg,
      new cmd heading: 162.373779 deg.

2025-06-05T17:01:12.190Z,1749142872.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833957 target range: 34.210781 and range: 34.50 m.
2025-06-05T17:01:12.201Z,1749142872.201 [DAT](INFO): DAT read: Rx Time:17:01:10.9082

2025-06-05T17:01:12.201Z,1749142872.201 [DAT](INFO): Rx dataTimestamp_ set to:1749142872.200941
2025-06-05T17:01:12.202Z,1749142872.202 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.999437
2025-06-05T17:01:12.452Z,1749142872.452 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.249376
2025-06-05T17:01:12.541Z,1749142872.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.21 m.
2025-06-05T17:01:12.546Z,1749142872.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.210781 m,
      nav range: 31.765461 m,
      bearing: 151.030164 deg,
      approach rate: -0.744150 m/s,
      LOS rate: -0.057311 deg/s,
      cmd heading: 162.373773 deg,
      new cmd heading: 162.310137 deg.

2025-06-05T17:01:12.548Z,1749142872.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832846 target range: 34.210781 and range: 34.50 m.
2025-06-05T17:01:12.706Z,1749142872.706 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.502803
2025-06-05T17:01:12.897Z,1749142872.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:12.916Z,1749142872.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.21 m.
2025-06-05T17:01:12.931Z,1749142872.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.210781 m,
      nav range: 31.520979 m,
      bearing: 151.011170 deg,
      approach rate: -0.651330 m/s,
      LOS rate: -0.050995 deg/s,
      cmd heading: 162.310143 deg,
      new cmd heading: 162.252719 deg.

2025-06-05T17:01:12.932Z,1749142872.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831844 target range: 34.210781 and range: 34.50 m.
2025-06-05T17:01:12.971Z,1749142872.971 [DAT](INFO): DAT read: 17:01:10.9082 LVL= 22000, 26481, 15602, 32755, AGC= 63, IDX= 402, 0.07, 0.011,-1.238, 0.499,-0.152, PHS= 0.251,-1.039, 0.649, RAW= 163.0,   1.8, CAL= 164.3,  -6.9, ROT= 345.7,   6.9

2025-06-05T17:01:12.972Z,1749142872.972 [DAT](INFO): got valid direction response:
 17:01:10.9082 LVL= 22000, 26481, 15602, 32755, AGC= 63, IDX= 402, 0.07, 0.011,-1.238, 0.499,-0.152, PHS= 0.251,-1.039, 0.649, RAW= 163.0,   1.8, CAL= 164.3,  -6.9, ROT= 345.7,   6.9

2025-06-05T17:01:12.973Z,1749142872.973 [DAT](INFO): DAT read: Bearing 345.7,   6.9 (Local)

2025-06-05T17:01:12.973Z,1749142872.973 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.7,   6.9 (Local)

2025-06-05T17:01:12.975Z,1749142872.975 [DAT](INFO): DAT read: Range 10 to 50 : 32.0 m  (Round-trip  42.7 ms) speed  0.5 m/s

2025-06-05T17:01:12.976Z,1749142872.976 [DAT](INFO): DAT read: user:2540>

2025-06-05T17:01:12.977Z,1749142872.977 [DAT](INFO): DAT read: Tx time:17:01:12.0113

2025-06-05T17:01:12.977Z,1749142872.977 [DAT](INFO): Ping request sent.
2025-06-05T17:01:12.977Z,1749142872.977 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:12.978Z,1749142872.978 [DAT](INFO): DAT read: TxSync time:17:01:12.0105

2025-06-05T17:01:12.979Z,1749142872.979 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-05T17:01:12.980Z,1749142872.980 [DAT](INFO): direction in FSK: [0.961998,-0.245210,-0.120137]
2025-06-05T17:01:12.980Z,1749142872.980 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:12.980Z,1749142872.980 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:12.985Z,1749142872.985 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:12.985Z,1749142872.985 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:13.017Z,1749142873.017 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.040189
2025-06-05T17:01:13.208Z,1749142873.208 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.231496
2025-06-05T17:01:13.417Z,1749142873.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.000000 m,
      deltaT: 3.780251 s,
      deltaX: -2.500000 m,
      approachRate: -0.661332 m/s,
      rangeRepo size: 4

2025-06-05T17:01:13.424Z,1749142873.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.732826 m,
      bearing: 150.780062 deg,
      lat: 36.906272 deg,
      lon: -122.115901 deg,
      deltaT: 3.780251 s,
      deltaX: -2.477955 m,
      approachRate: -0.655500 m/s,
      posRepo size: 4

2025-06-05T17:01:13.425Z,1749142873.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.73 m.
2025-06-05T17:01:13.433Z,1749142873.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.732826 m,
      nav range: 31.220261 m,
      bearing: 151.021889 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050995 deg/s,
      cmd heading: 162.252715 deg,
      new cmd heading: 162.176288 deg.

2025-06-05T17:01:13.439Z,1749142873.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.830510 target range: 31.732826 and range: 32.00 m.
2025-06-05T17:01:13.459Z,1749142873.459 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.482246
2025-06-05T17:01:13.711Z,1749142873.711 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.734164
2025-06-05T17:01:13.756Z,1749142873.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.73 m.
2025-06-05T17:01:13.759Z,1749142873.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.732826 m,
      nav range: 30.993116 m,
      bearing: 151.017177 deg,
      approach rate: -0.666616 m/s,
      LOS rate: -0.013929 deg/s,
      cmd heading: 162.176285 deg,
      new cmd heading: 162.162047 deg.

2025-06-05T17:01:13.760Z,1749142873.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.830262 target range: 31.732826 and range: 32.00 m.
2025-06-05T17:01:13.964Z,1749142873.964 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.986517
2025-06-05T17:01:14.210Z,1749142874.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.73 m.
2025-06-05T17:01:14.213Z,1749142874.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.732826 m,
      nav range: 30.706230 m,
      bearing: 151.012054 deg,
      approach rate: -0.631557 m/s,
      LOS rate: -0.011384 deg/s,
      cmd heading: 162.162051 deg,
      new cmd heading: 162.146537 deg.

2025-06-05T17:01:14.216Z,1749142874.216 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.239120
2025-06-05T17:01:14.217Z,1749142874.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.829991 target range: 31.732826 and range: 32.00 m.
2025-06-05T17:01:14.468Z,1749142874.468 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.490588
2025-06-05T17:01:14.605Z,1749142874.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.73 m.
2025-06-05T17:01:14.608Z,1749142874.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.732826 m,
      nav range: 30.453920 m,
      bearing: 151.005780 deg,
      approach rate: -0.638644 m/s,
      LOS rate: -0.016011 deg/s,
      cmd heading: 162.146533 deg,
      new cmd heading: 162.127557 deg.

2025-06-05T17:01:14.609Z,1749142874.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.829660 target range: 31.732826 and range: 32.00 m.
2025-06-05T17:01:14.720Z,1749142874.720 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.742662
2025-06-05T17:01:14.953Z,1749142874.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:14.971Z,1749142874.971 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.994281
2025-06-05T17:01:14.973Z,1749142874.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.73 m.
2025-06-05T17:01:14.980Z,1749142874.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.732826 m,
      nav range: 30.231018 m,
      bearing: 151.000538 deg,
      approach rate: -0.605677 m/s,
      LOS rate: -0.014348 deg/s,
      cmd heading: 162.127558 deg,
      new cmd heading: 162.111717 deg.

2025-06-05T17:01:14.981Z,1749142874.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.829383 target range: 31.732826 and range: 32.00 m.
2025-06-05T17:01:15.091Z,1749142875.091 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:01:15.223Z,1749142875.223 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.246139
2025-06-05T17:01:15.415Z,1749142875.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.73 m.
2025-06-05T17:01:15.423Z,1749142875.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.732826 m,
      nav range: 29.953249 m,
      bearing: 151.013181 deg,
      approach rate: -0.635486 m/s,
      LOS rate: 0.029191 deg/s,
      cmd heading: 162.111712 deg,
      new cmd heading: 162.149991 deg.

2025-06-05T17:01:15.424Z,1749142875.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.830051 target range: 31.732826 and range: 32.00 m.
2025-06-05T17:01:15.477Z,1749142875.477 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.499380
2025-06-05T17:01:15.727Z,1749142875.727 [DAT](INFO): DAT read: Rx Time:17:01:14.4550

2025-06-05T17:01:15.728Z,1749142875.728 [DAT](INFO): Rx dataTimestamp_ set to:1749142875.727310
2025-06-05T17:01:15.728Z,1749142875.728 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.751174
2025-06-05T17:01:15.784Z,1749142875.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.73 m.
2025-06-05T17:01:15.807Z,1749142875.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.732826 m,
      nav range: 29.722607 m,
      bearing: 151.024087 deg,
      approach rate: -0.617558 m/s,
      LOS rate: 0.029429 deg/s,
      cmd heading: 162.149989 deg,
      new cmd heading: 162.182962 deg.

2025-06-05T17:01:15.808Z,1749142875.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.830627 target range: 31.732826 and range: 32.00 m.
2025-06-05T17:01:15.980Z,1749142875.980 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.003288
2025-06-05T17:01:16.094Z,1749142876.094 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:01:16.235Z,1749142876.235 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.257489
2025-06-05T17:01:16.280Z,1749142876.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.73 m.
2025-06-05T17:01:16.289Z,1749142876.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.732826 m,
      nav range: 29.430239 m,
      bearing: 151.038536 deg,
      approach rate: -0.592181 m/s,
      LOS rate: 0.029555 deg/s,
      cmd heading: 162.182965 deg,
      new cmd heading: 162.226740 deg.

2025-06-05T17:01:16.289Z,1749142876.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831391 target range: 31.732826 and range: 32.00 m.
2025-06-05T17:01:16.490Z,1749142876.490 [DAT](INFO): DAT read: 17:01:14.4550 LVL= 26160, 28401, 17170, 32755, AGC= 61, IDX= 402, 0.24, 0.089,-1.116, 0.568,-0.090, PHS= 0.267,-0.979, 0.655, RAW= 163.2,   0.8, CAL= 164.8,  -7.8, ROT= 345.2,   7.8

2025-06-05T17:01:16.491Z,1749142876.491 [DAT](INFO): got valid direction response:
 17:01:14.4550 LVL= 26160, 28401, 17170, 32755, AGC= 61, IDX= 402, 0.24, 0.089,-1.116, 0.568,-0.090, PHS= 0.267,-0.979, 0.655, RAW= 163.2,   0.8, CAL= 164.8,  -7.8, ROT= 345.2,   7.8

2025-06-05T17:01:16.492Z,1749142876.492 [DAT](INFO): DAT read: Bearing 345.2,   7.8 (Local)

2025-06-05T17:01:16.493Z,1749142876.493 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.2,   7.8 (Local)

2025-06-05T17:01:16.494Z,1749142876.494 [DAT](INFO): DAT read: Range 10 to 50 : 29.7 m  (Round-trip  39.6 ms) speed  0.5 m/s

2025-06-05T17:01:16.495Z,1749142876.495 [DAT](INFO): DAT read: user:2541>

2025-06-05T17:01:16.496Z,1749142876.496 [DAT](INFO): DAT read: Tx time:17:01:15.5613

2025-06-05T17:01:16.496Z,1749142876.496 [DAT](INFO): Ping request sent.
2025-06-05T17:01:16.496Z,1749142876.496 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:16.497Z,1749142876.497 [DAT](INFO): DAT read: TxSync time:17:01:15.5605

2025-06-05T17:01:16.497Z,1749142876.497 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-05T17:01:16.501Z,1749142876.501 [DAT](INFO): direction in FSK: [0.957878,-0.253082,-0.135716]
2025-06-05T17:01:16.501Z,1749142876.501 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:16.501Z,1749142876.501 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:16.504Z,1749142876.504 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:16.504Z,1749142876.504 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:16.508Z,1749142876.508 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.011776
2025-06-05T17:01:16.717Z,1749142876.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 3.527724 s,
      deltaX: -2.299999 m,
      approachRate: -0.651978 m/s,
      rangeRepo size: 4

2025-06-05T17:01:16.727Z,1749142876.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.452169 m,
      bearing: 150.061365 deg,
      lat: 36.906272 deg,
      lon: -122.115899 deg,
      deltaT: 3.527724 s,
      deltaX: -2.280657 m,
      approachRate: -0.646495 m/s,
      posRepo size: 4

2025-06-05T17:01:16.728Z,1749142876.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.45 m.
2025-06-05T17:01:16.735Z,1749142876.735 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.238838
2025-06-05T17:01:16.737Z,1749142876.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.452169 m,
      nav range: 29.180494 m,
      bearing: 150.862090 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029555 deg/s,
      cmd heading: 162.226746 deg,
      new cmd heading: 162.265534 deg.

2025-06-05T17:01:16.738Z,1749142876.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832068 target range: 29.452169 and range: 29.70 m.
2025-06-05T17:01:16.987Z,1749142876.987 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.491034
2025-06-05T17:01:17.087Z,1749142877.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:17.089Z,1749142877.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.45 m.
2025-06-05T17:01:17.097Z,1749142877.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.452169 m,
      nav range: 28.933891 m,
      bearing: 150.879345 deg,
      approach rate: -0.659298 m/s,
      LOS rate: 0.046524 deg/s,
      cmd heading: 162.265528 deg,
      new cmd heading: 162.317734 deg.

2025-06-05T17:01:17.101Z,1749142877.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832979 target range: 29.452169 and range: 29.70 m.
2025-06-05T17:01:17.239Z,1749142877.239 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.743001
2025-06-05T17:01:17.491Z,1749142877.491 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.994875
2025-06-05T17:01:17.557Z,1749142877.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.45 m.
2025-06-05T17:01:17.565Z,1749142877.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.452169 m,
      nav range: 28.647472 m,
      bearing: 150.897305 deg,
      approach rate: -0.612379 m/s,
      LOS rate: 0.038783 deg/s,
      cmd heading: 162.317738 deg,
      new cmd heading: 162.372157 deg.

2025-06-05T17:01:17.568Z,1749142877.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833929 target range: 29.452169 and range: 29.70 m.
2025-06-05T17:01:17.743Z,1749142877.743 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.246759
2025-06-05T17:01:17.900Z,1749142877.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.45 m.
2025-06-05T17:01:17.925Z,1749142877.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.452169 m,
      nav range: 28.429905 m,
      bearing: 150.912018 deg,
      approach rate: -0.633491 m/s,
      LOS rate: 0.043167 deg/s,
      cmd heading: 162.372161 deg,
      new cmd heading: 162.416637 deg.

2025-06-05T17:01:17.931Z,1749142877.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834705 target range: 29.452169 and range: 29.70 m.
2025-06-05T17:01:17.996Z,1749142877.996 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.499676
2025-06-05T17:01:18.257Z,1749142878.257 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.753556
2025-06-05T17:01:18.386Z,1749142878.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.45 m.
2025-06-05T17:01:18.389Z,1749142878.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.452169 m,
      nav range: 28.150721 m,
      bearing: 150.931828 deg,
      approach rate: -0.600496 m/s,
      LOS rate: 0.043032 deg/s,
      cmd heading: 162.416639 deg,
      new cmd heading: 162.476660 deg.

2025-06-05T17:01:18.402Z,1749142878.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835753 target range: 29.452169 and range: 29.70 m.
2025-06-05T17:01:18.501Z,1749142878.501 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.004444
2025-06-05T17:01:18.725Z,1749142878.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.45 m.
2025-06-05T17:01:18.728Z,1749142878.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.452169 m,
      nav range: 27.895720 m,
      bearing: 150.950269 deg,
      approach rate: -0.708598 m/s,
      LOS rate: 0.051713 deg/s,
      cmd heading: 162.476663 deg,
      new cmd heading: 162.532492 deg.

2025-06-05T17:01:18.729Z,1749142878.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.836727 target range: 29.452169 and range: 29.70 m.
2025-06-05T17:01:18.751Z,1749142878.751 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.255108
2025-06-05T17:01:19.005Z,1749142879.005 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.508219
2025-06-05T17:01:19.111Z,1749142879.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:19.113Z,1749142879.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.45 m.
2025-06-05T17:01:19.136Z,1749142879.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.452169 m,
      nav range: 27.642771 m,
      bearing: 150.969879 deg,
      approach rate: -0.651829 m/s,
      LOS rate: 0.050995 deg/s,
      cmd heading: 162.532493 deg,
      new cmd heading: 162.591860 deg.

2025-06-05T17:01:19.137Z,1749142879.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.837763 target range: 29.452169 and range: 29.70 m.
2025-06-05T17:01:19.257Z,1749142879.257 [DAT](INFO): DAT read: Rx Time:17:01:18.0022

2025-06-05T17:01:19.258Z,1749142879.258 [DAT](INFO): Rx dataTimestamp_ set to:1749142879.256894
2025-06-05T17:01:19.259Z,1749142879.259 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.762222
2025-06-05T17:01:19.507Z,1749142879.507 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.010827
2025-06-05T17:01:19.597Z,1749142879.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.45 m.
2025-06-05T17:01:19.602Z,1749142879.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.452169 m,
      nav range: 27.334316 m,
      bearing: 150.981525 deg,
      approach rate: -0.637296 m/s,
      LOS rate: 0.024333 deg/s,
      cmd heading: 162.591861 deg,
      new cmd heading: 162.627193 deg.

2025-06-05T17:01:19.611Z,1749142879.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838380 target range: 29.452169 and range: 29.70 m.
2025-06-05T17:01:19.759Z,1749142879.759 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.262797
2025-06-05T17:01:19.916Z,1749142879.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.45 m.
2025-06-05T17:01:19.919Z,1749142879.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.452169 m,
      nav range: 27.112680 m,
      bearing: 150.990078 deg,
      approach rate: -0.694631 m/s,
      LOS rate: 0.027025 deg/s,
      cmd heading: 162.627187 deg,
      new cmd heading: 162.653055 deg.

2025-06-05T17:01:19.920Z,1749142879.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838831 target range: 29.452169 and range: 29.70 m.
2025-06-05T17:01:20.017Z,1749142880.017 [DAT](INFO): DAT read: 17:01:18.0023 LVL= 27504, 28017, 17138, 29907, AGC= 63, IDX= 405, 0.11, 0.075,-1.187, 0.574,-0.104, PHS= 0.266,-1.036, 0.674, RAW= 163.2,   1.3, CAL= 164.7,  -7.4, ROT= 345.3,   7.4

2025-06-05T17:01:20.019Z,1749142880.019 [DAT](INFO): got valid direction response:
 17:01:18.0023 LVL= 27504, 28017, 17138, 29907, AGC= 63, IDX= 405, 0.11, 0.075,-1.187, 0.574,-0.104, PHS= 0.266,-1.036, 0.674, RAW= 163.2,   1.3, CAL= 164.7,  -7.4, ROT= 345.3,   7.4

2025-06-05T17:01:20.021Z,1749142880.021 [DAT](INFO): DAT read: Bearing 345.3,   7.4 (Local)

2025-06-05T17:01:20.023Z,1749142880.023 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.3,   7.4 (Local)

2025-06-05T17:01:20.027Z,1749142880.027 [DAT](INFO): DAT read: Range 10 to 50 : 27.6 m  (Round-trip  36.8 ms) speed  0.5 m/s

2025-06-05T17:01:20.028Z,1749142880.028 [DAT](INFO): DAT read: user:2542>

2025-06-05T17:01:20.028Z,1749142880.028 [DAT](INFO): DAT read: Tx time:17:01:19.1114

2025-06-05T17:01:20.029Z,1749142880.029 [DAT](INFO): Ping request sent.
2025-06-05T17:01:20.029Z,1749142880.029 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:20.029Z,1749142880.029 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-05T17:01:20.031Z,1749142880.031 [DAT](INFO): direction in FSK: [0.959212,-0.251645,-0.128796]
2025-06-05T17:01:20.031Z,1749142880.031 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:20.031Z,1749142880.031 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:20.035Z,1749142880.035 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:20.035Z,1749142880.035 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:20.041Z,1749142880.041 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.008962
2025-06-05T17:01:20.269Z,1749142880.269 [DAT](INFO): DAT read: TxSync time:17:01:19.1106

2025-06-05T17:01:20.271Z,1749142880.271 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.242125
2025-06-05T17:01:20.416Z,1749142880.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 3.526983 s,
      deltaX: -2.100000 m,
      approachRate: -0.595410 m/s,
      rangeRepo size: 4

2025-06-05T17:01:20.420Z,1749142880.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.369856 m,
      bearing: 149.973633 deg,
      lat: 36.906272 deg,
      lon: -122.115898 deg,
      deltaT: 3.526983 s,
      deltaX: -2.082314 m,
      approachRate: -0.590395 m/s,
      posRepo size: 4

2025-06-05T17:01:20.421Z,1749142880.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.37 m.
2025-06-05T17:01:20.424Z,1749142880.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.369856 m,
      nav range: 26.856068 m,
      bearing: 150.770735 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.027025 deg/s,
      cmd heading: 162.653059 deg,
      new cmd heading: 162.692459 deg.

2025-06-05T17:01:20.425Z,1749142880.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839519 target range: 27.369856 and range: 27.60 m.
2025-06-05T17:01:20.516Z,1749142880.516 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.486654
2025-06-05T17:01:20.769Z,1749142880.769 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.739847
2025-06-05T17:01:20.771Z,1749142880.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.37 m.
2025-06-05T17:01:20.774Z,1749142880.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.369856 m,
      nav range: 26.613647 m,
      bearing: 150.765193 deg,
      approach rate: -0.657033 m/s,
      LOS rate: -0.015156 deg/s,
      cmd heading: 162.692456 deg,
      new cmd heading: 162.675680 deg.

2025-06-05T17:01:20.779Z,1749142880.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839226 target range: 27.369856 and range: 27.60 m.
2025-06-05T17:01:21.021Z,1749142881.021 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.991659
2025-06-05T17:01:21.174Z,1749142881.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:21.176Z,1749142881.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.37 m.
2025-06-05T17:01:21.179Z,1749142881.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.369856 m,
      nav range: 26.322464 m,
      bearing: 150.758402 deg,
      approach rate: -0.718363 m/s,
      LOS rate: -0.016940 deg/s,
      cmd heading: 162.675681 deg,
      new cmd heading: 162.655082 deg.

2025-06-05T17:01:21.180Z,1749142881.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838867 target range: 27.369856 and range: 27.60 m.
2025-06-05T17:01:21.275Z,1749142881.275 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.245467
2025-06-05T17:01:21.524Z,1749142881.524 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.495088
2025-06-05T17:01:21.612Z,1749142881.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.37 m.
2025-06-05T17:01:21.617Z,1749142881.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.369856 m,
      nav range: 26.027294 m,
      bearing: 150.719455 deg,
      approach rate: -0.677029 m/s,
      LOS rate: -0.090346 deg/s,
      cmd heading: 162.655081 deg,
      new cmd heading: 162.536915 deg.

2025-06-05T17:01:21.619Z,1749142881.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.836804 target range: 27.369856 and range: 27.60 m.
2025-06-05T17:01:21.775Z,1749142881.775 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.746267
2025-06-05T17:01:22.002Z,1749142882.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.37 m.
2025-06-05T17:01:22.016Z,1749142882.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.369856 m,
      nav range: 25.791080 m,
      bearing: 150.687961 deg,
      approach rate: -0.619078 m/s,
      LOS rate: -0.083296 deg/s,
      cmd heading: 162.536919 deg,
      new cmd heading: 162.441573 deg.

2025-06-05T17:01:22.027Z,1749142882.027 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.998151
2025-06-05T17:01:22.028Z,1749142882.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835140 target range: 27.369856 and range: 27.60 m.
2025-06-05T17:01:22.284Z,1749142882.284 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.254097
2025-06-05T17:01:22.413Z,1749142882.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.37 m.
2025-06-05T17:01:22.420Z,1749142882.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.369856 m,
      nav range: 25.469196 m,
      bearing: 150.632694 deg,
      approach rate: -0.767266 m/s,
      LOS rate: -0.133405 deg/s,
      cmd heading: 162.441569 deg,
      new cmd heading: 162.273671 deg.

2025-06-05T17:01:22.421Z,1749142882.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832210 target range: 27.369856 and range: 27.60 m.
2025-06-05T17:01:22.533Z,1749142882.533 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.503909
2025-06-05T17:01:22.758Z,1749142882.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.37 m.
2025-06-05T17:01:22.761Z,1749142882.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.369856 m,
      nav range: 25.217253 m,
      bearing: 150.588568 deg,
      approach rate: -0.730729 m/s,
      LOS rate: -0.129258 deg/s,
      cmd heading: 162.273670 deg,
      new cmd heading: 162.139971 deg.

2025-06-05T17:01:22.764Z,1749142882.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.829876 target range: 27.369856 and range: 27.60 m.
2025-06-05T17:01:22.784Z,1749142882.784 [DAT](INFO): DAT read: Rx Time:17:01:21.5492

2025-06-05T17:01:22.784Z,1749142882.784 [DAT](INFO): Rx dataTimestamp_ set to:1749142882.784114
2025-06-05T17:01:22.785Z,1749142882.785 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.756069
2025-06-05T17:01:23.044Z,1749142883.044 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.014658
2025-06-05T17:01:23.190Z,1749142883.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:23.192Z,1749142883.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.37 m.
2025-06-05T17:01:23.195Z,1749142883.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.369856 m,
      nav range: 24.919430 m,
      bearing: 150.535128 deg,
      approach rate: -0.685981 m/s,
      LOS rate: -0.124561 deg/s,
      cmd heading: 162.139976 deg,
      new cmd heading: 161.977739 deg.

2025-06-05T17:01:23.196Z,1749142883.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.827045 target range: 27.369856 and range: 27.60 m.
2025-06-05T17:01:23.301Z,1749142883.301 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.271613
2025-06-05T17:01:23.559Z,1749142883.559 [DAT](INFO): DAT read: 17:01:21.5492 LVL= 21296, 25985, 13906, 29171, AGC= 62, IDX= 405,-0.39,-3.124, 2.021,-2.595, 3.008, PHS= 0.239,-0.940, 0.677, RAW= 165.2,   0.3, CAL= 166.7,  -8.1, ROT= 343.3,   8.1

2025-06-05T17:01:23.560Z,1749142883.560 [DAT](INFO): got valid direction response:
 17:01:21.5492 LVL= 21296, 25985, 13906, 29171, AGC= 62, IDX= 405,-0.39,-3.124, 2.021,-2.595, 3.008, PHS= 0.239,-0.940, 0.677, RAW= 165.2,   0.3, CAL= 166.7,  -8.1, ROT= 343.3,   8.1

2025-06-05T17:01:23.561Z,1749142883.561 [DAT](INFO): DAT read: Bearing 343.3,   8.1 (Local)

2025-06-05T17:01:23.561Z,1749142883.561 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.3,   8.1 (Local)

2025-06-05T17:01:23.562Z,1749142883.562 [DAT](INFO): DAT read: Range 10 to 50 : 25.2 m  (Round-trip  33.6 ms) speed  0.7 m/s

2025-06-05T17:01:23.563Z,1749142883.563 [DAT](INFO): DAT read: user:2543>

2025-06-05T17:01:23.564Z,1749142883.564 [DAT](INFO): DAT read: Tx time:17:01:22.6629

2025-06-05T17:01:23.564Z,1749142883.564 [DAT](INFO): Ping request sent.
2025-06-05T17:01:23.564Z,1749142883.564 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:23.564Z,1749142883.564 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-05T17:01:23.576Z,1749142883.576 [DAT](INFO): direction in FSK: [0.948267,-0.284494,-0.140901]
2025-06-05T17:01:23.576Z,1749142883.576 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:23.577Z,1749142883.577 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:23.585Z,1749142883.585 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:23.586Z,1749142883.586 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:23.637Z,1749142883.637 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.072867
2025-06-05T17:01:23.731Z,1749142883.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 3.540341 s,
      deltaX: -2.400000 m,
      approachRate: -0.677901 m/s,
      rangeRepo size: 4

2025-06-05T17:01:23.739Z,1749142883.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.990347 m,
      bearing: 148.456756 deg,
      lat: 36.906273 deg,
      lon: -122.115896 deg,
      deltaT: 3.540341 s,
      deltaX: -2.379509 m,
      approachRate: -0.672113 m/s,
      posRepo size: 4

2025-06-05T17:01:23.739Z,1749142883.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m.
2025-06-05T17:01:23.747Z,1749142883.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.990347 m,
      nav range: 24.598759 m,
      bearing: 150.022825 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.124561 deg/s,
      cmd heading: 161.977745 deg,
      new cmd heading: 161.778228 deg.

2025-06-05T17:01:23.748Z,1749142883.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.823563 target range: 24.990347 and range: 25.20 m.
2025-06-05T17:01:23.804Z,1749142883.804 [DAT](INFO): DAT read: TxSync time:17:01:22.6622

2025-06-05T17:01:23.805Z,1749142883.805 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.241219
2025-06-05T17:01:24.048Z,1749142884.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m.
2025-06-05T17:01:24.056Z,1749142884.056 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.491648
2025-06-05T17:01:24.062Z,1749142884.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.990347 m,
      nav range: 24.367516 m,
      bearing: 149.966534 deg,
      approach rate: -0.717825 m/s,
      LOS rate: -0.176399 deg/s,
      cmd heading: 161.778221 deg,
      new cmd heading: 161.607745 deg.

2025-06-05T17:01:24.065Z,1749142884.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.820587 target range: 24.990347 and range: 25.20 m.
2025-06-05T17:01:24.309Z,1749142884.309 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.744744
2025-06-05T17:01:24.480Z,1749142884.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m.
2025-06-05T17:01:24.484Z,1749142884.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.990347 m,
      nav range: 24.065100 m,
      bearing: 149.889926 deg,
      approach rate: -0.700118 m/s,
      LOS rate: -0.179582 deg/s,
      cmd heading: 161.607740 deg,
      new cmd heading: 161.375030 deg.

2025-06-05T17:01:24.485Z,1749142884.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816526 target range: 24.990347 and range: 25.20 m.
2025-06-05T17:01:24.560Z,1749142884.560 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.996276
2025-06-05T17:01:24.811Z,1749142884.811 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.246996
2025-06-05T17:01:24.849Z,1749142884.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m.
2025-06-05T17:01:24.853Z,1749142884.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.990347 m,
      nav range: 23.813578 m,
      bearing: 149.823164 deg,
      approach rate: -0.683075 m/s,
      LOS rate: -0.183224 deg/s,
      cmd heading: 161.375035 deg,
      new cmd heading: 161.172635 deg.

2025-06-05T17:01:24.855Z,1749142884.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.812993 target range: 24.990347 and range: 25.20 m.
2025-06-05T17:01:25.063Z,1749142885.063 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.498920
2025-06-05T17:01:25.261Z,1749142885.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:25.268Z,1749142885.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m.
2025-06-05T17:01:25.291Z,1749142885.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.990347 m,
      nav range: 23.539274 m,
      bearing: 149.750358 deg,
      approach rate: -0.653583 m/s,
      LOS rate: -0.175497 deg/s,
      cmd heading: 161.172630 deg,
      new cmd heading: 160.951666 deg.

2025-06-05T17:01:25.299Z,1749142885.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.809137 target range: 24.990347 and range: 25.20 m.
2025-06-05T17:01:25.319Z,1749142885.319 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.754667
2025-06-05T17:01:25.568Z,1749142885.568 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.003389
2025-06-05T17:01:25.674Z,1749142885.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m.
2025-06-05T17:01:25.697Z,1749142885.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.990347 m,
      nav range: 23.257313 m,
      bearing: 149.685994 deg,
      approach rate: -0.695748 m/s,
      LOS rate: -0.160745 deg/s,
      cmd heading: 160.951673 deg,
      new cmd heading: 160.756241 deg.

2025-06-05T17:01:25.698Z,1749142885.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805726 target range: 24.990347 and range: 25.20 m.
2025-06-05T17:01:25.819Z,1749142885.819 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.255174
2025-06-05T17:01:26.061Z,1749142886.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m.
2025-06-05T17:01:26.064Z,1749142886.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.990347 m,
      nav range: 22.997429 m,
      bearing: 149.627105 deg,
      approach rate: -0.671217 m/s,
      LOS rate: -0.153816 deg/s,
      cmd heading: 160.756248 deg,
      new cmd heading: 160.577583 deg.

2025-06-05T17:01:26.065Z,1749142886.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802608 target range: 24.990347 and range: 25.20 m.
2025-06-05T17:01:26.073Z,1749142886.073 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.508789
2025-06-05T17:01:26.327Z,1749142886.327 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.762399
2025-06-05T17:01:26.487Z,1749142886.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m.
2025-06-05T17:01:26.490Z,1749142886.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.990347 m,
      nav range: 22.721714 m,
      bearing: 149.576689 deg,
      approach rate: -0.647037 m/s,
      LOS rate: -0.119748 deg/s,
      cmd heading: 160.577583 deg,
      new cmd heading: 160.424503 deg.

2025-06-05T17:01:26.491Z,1749142886.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.799936 target range: 24.990347 and range: 25.20 m.
2025-06-05T17:01:26.576Z,1749142886.576 [DAT](INFO): DAT read: Rx Time:17:01:25.0972

2025-06-05T17:01:26.577Z,1749142886.577 [DAT](INFO): Rx dataTimestamp_ set to:1749142886.576313
2025-06-05T17:01:26.578Z,1749142886.578 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.013319
2025-06-05T17:01:26.827Z,1749142886.827 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.262850
2025-06-05T17:01:26.921Z,1749142886.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m.
2025-06-05T17:01:26.929Z,1749142886.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.990347 m,
      nav range: 22.462557 m,
      bearing: 149.530351 deg,
      approach rate: -0.597121 m/s,
      LOS rate: -0.107999 deg/s,
      cmd heading: 160.424505 deg,
      new cmd heading: 160.283887 deg.

2025-06-05T17:01:26.930Z,1749142886.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797482 target range: 24.990347 and range: 25.20 m.
2025-06-05T17:01:27.095Z,1749142887.095 [DAT](INFO): DAT read: 17:01:25.0972 LVL= 25168, 30449, 17650, 32755, AGC= 61, IDX= 401,-0.10, 2.361, 1.209, 2.871, 2.218, PHS= 0.231,-0.963, 0.650, RAW= 164.5,   1.1, CAL= 165.9,  -7.4, ROT= 344.1,   7.4

2025-06-05T17:01:27.096Z,1749142887.096 [DAT](INFO): got valid direction response:
 17:01:25.0972 LVL= 25168, 30449, 17650, 32755, AGC= 61, IDX= 401,-0.10, 2.361, 1.209, 2.871, 2.218, PHS= 0.231,-0.963, 0.650, RAW= 164.5,   1.1, CAL= 165.9,  -7.4, ROT= 344.1,   7.4

2025-06-05T17:01:27.097Z,1749142887.097 [DAT](INFO): DAT read: Bearing 344.1,   7.4 (Local)

2025-06-05T17:01:27.097Z,1749142887.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.1,   7.4 (Local)

2025-06-05T17:01:27.099Z,1749142887.099 [DAT](INFO): DAT read: Range 10 to 50 : 22.5 m  (Round-trip  30.1 ms) speed  0.6 m/s

2025-06-05T17:01:27.101Z,1749142887.101 [DAT](INFO): DAT read: user:2544>

2025-06-05T17:01:27.103Z,1749142887.103 [DAT](INFO): DAT read: Tx time:17:01:26.2114

2025-06-05T17:01:27.104Z,1749142887.104 [DAT](INFO): Ping request sent.
2025-06-05T17:01:27.104Z,1749142887.104 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:27.105Z,1749142887.105 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-05T17:01:27.106Z,1749142887.106 [DAT](INFO): direction in FSK: [0.953731,-0.271677,-0.128796]
2025-06-05T17:01:27.106Z,1749142887.106 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:27.107Z,1749142887.107 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:27.109Z,1749142887.109 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:27.110Z,1749142887.110 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:27.138Z,1749142887.138 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.033420
2025-06-05T17:01:27.334Z,1749142887.334 [DAT](INFO): DAT read: TxSync time:17:01:26.2106

2025-06-05T17:01:27.337Z,1749142887.337 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.232892
2025-06-05T17:01:27.330Z,1749142887.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 3.529675 s,
      deltaX: -2.700001 m,
      approachRate: -0.764943 m/s,
      rangeRepo size: 4

2025-06-05T17:01:27.356Z,1749142887.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.313251 m,
      bearing: 148.410027 deg,
      lat: 36.906275 deg,
      lon: -122.115894 deg,
      deltaT: 3.529675 s,
      deltaX: -2.677095 m,
      approachRate: -0.758454 m/s,
      posRepo size: 4

2025-06-05T17:01:27.363Z,1749142887.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T17:01:27.377Z,1749142887.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.313251 m,
      nav range: 22.103058 m,
      bearing: 148.681338 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107999 deg/s,
      cmd heading: 160.283885 deg,
      new cmd heading: 160.152775 deg.

2025-06-05T17:01:27.378Z,1749142887.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.795193 target range: 22.313251 and range: 22.50 m.
2025-06-05T17:01:27.589Z,1749142887.589 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.485033
2025-06-05T17:01:27.731Z,1749142887.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:27.738Z,1749142887.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T17:01:27.741Z,1749142887.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.313251 m,
      nav range: 21.824965 m,
      bearing: 148.659739 deg,
      approach rate: -0.680494 m/s,
      LOS rate: -0.053526 deg/s,
      cmd heading: 160.152773 deg,
      new cmd heading: 160.087150 deg.

2025-06-05T17:01:27.747Z,1749142887.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.794048 target range: 22.313251 and range: 22.50 m.
2025-06-05T17:01:27.840Z,1749142887.840 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.736027
2025-06-05T17:01:28.076Z,1749142888.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T17:01:28.079Z,1749142888.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.313251 m,
      nav range: 21.600973 m,
      bearing: 148.642311 deg,
      approach rate: -0.655663 m/s,
      LOS rate: -0.051543 deg/s,
      cmd heading: 160.087149 deg,
      new cmd heading: 160.034323 deg.

2025-06-05T17:01:28.080Z,1749142888.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.793126 target range: 22.313251 and range: 22.50 m.
2025-06-05T17:01:28.091Z,1749142888.091 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.987320
2025-06-05T17:01:28.347Z,1749142888.347 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.243217
2025-06-05T17:01:28.489Z,1749142888.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T17:01:28.492Z,1749142888.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.313251 m,
      nav range: 21.341635 m,
      bearing: 148.623921 deg,
      approach rate: -0.627938 m/s,
      LOS rate: -0.045070 deg/s,
      cmd heading: 160.034324 deg,
      new cmd heading: 159.978483 deg.

2025-06-05T17:01:28.493Z,1749142888.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.792151 target range: 22.313251 and range: 22.50 m.
2025-06-05T17:01:28.597Z,1749142888.597 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.492517
2025-06-05T17:01:28.847Z,1749142888.847 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.743487
2025-06-05T17:01:28.896Z,1749142888.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T17:01:28.900Z,1749142888.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.313251 m,
      nav range: 21.084860 m,
      bearing: 148.608171 deg,
      approach rate: -0.630749 m/s,
      LOS rate: -0.039159 deg/s,
      cmd heading: 159.978480 deg,
      new cmd heading: 159.930656 deg.

2025-06-05T17:01:28.901Z,1749142888.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.791317 target range: 22.313251 and range: 22.50 m.
2025-06-05T17:01:29.101Z,1749142889.101 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.996852
2025-06-05T17:01:29.327Z,1749142889.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T17:01:29.332Z,1749142889.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.313251 m,
      nav range: 20.814035 m,
      bearing: 148.593624 deg,
      approach rate: -0.629814 m/s,
      LOS rate: -0.034271 deg/s,
      cmd heading: 159.930655 deg,
      new cmd heading: 159.886445 deg.

2025-06-05T17:01:29.336Z,1749142889.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.790545 target range: 22.313251 and range: 22.50 m.
2025-06-05T17:01:29.355Z,1749142889.355 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.250019
2025-06-05T17:01:29.603Z,1749142889.603 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.499380
2025-06-05T17:01:29.762Z,1749142889.762 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,       -     +8.04,       -0.20,934.82
2025-06-05T17:01:29.777Z,1749142889.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:29.779Z,1749142889.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T17:01:29.783Z,1749142889.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.313251 m,
      nav range: 20.529070 m,
      bearing: 148.580673 deg,
      approach rate: -0.628466 m/s,
      LOS rate: -0.028958 deg/s,
      cmd heading: 159.886450 deg,
      new cmd heading: 159.847059 deg.

2025-06-05T17:01:29.784Z,1749142889.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.789857 target range: 22.313251 and range: 22.50 m.
2025-06-05T17:01:29.856Z,1749142889.856 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.751801
2025-06-05T17:01:30.108Z,1749142890.108 [DAT](INFO): DAT read: Rx Time:17:01:28.6425

2025-06-05T17:01:30.109Z,1749142890.109 [DAT](INFO): Rx dataTimestamp_ set to:1749142890.108237
2025-06-05T17:01:30.109Z,1749142890.109 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.005338
2025-06-05T17:01:30.208Z,1749142890.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-06-05T17:01:30.215Z,1749142890.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.313251 m,
      nav range: 20.258776 m,
      bearing: 148.570384 deg,
      approach rate: -0.630756 m/s,
      LOS rate: -0.024332 deg/s,
      cmd heading: 159.847054 deg,
      new cmd heading: 159.815773 deg.

2025-06-05T17:01:30.216Z,1749142890.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.789311 target range: 22.313251 and range: 22.50 m.
2025-06-05T17:01:30.376Z,1749142890.376 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.271603
2025-06-05T17:01:30.629Z,1749142890.629 [DAT](INFO): DAT read: 17:01:28.6426 LVL= 24560, 24785, 13010, 29331, AGC= 56, IDX= 417, 0.32, 1.820, 0.584, 2.285, 1.633, PHS= 0.274,-1.002, 0.649, RAW= 162.5,   1.1, CAL= 164.1,  -7.6, ROT= 345.9,   7.6

2025-06-05T17:01:30.632Z,1749142890.632 [DAT](INFO): got valid direction response:
 17:01:28.6426 LVL= 24560, 24785, 13010, 29331, AGC= 56, IDX= 417, 0.32, 1.820, 0.584, 2.285, 1.633, PHS= 0.274,-1.002, 0.649, RAW= 162.5,   1.1, CAL= 164.1,  -7.6, ROT= 345.9,   7.6

2025-06-05T17:01:30.636Z,1749142890.636 [DAT](INFO): DAT read: Bearing 345.9,   7.6 (Local)

2025-06-05T17:01:30.636Z,1749142890.636 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.9,   7.6 (Local)

2025-06-05T17:01:30.637Z,1749142890.637 [DAT](INFO): DAT read: Range 10 to 50 : 20.2 m  (Round-trip  27.0 ms) speed  0.4 m/s

2025-06-05T17:01:30.647Z,1749142890.647 [DAT](INFO): DAT read: user:2545>

2025-06-05T17:01:30.648Z,1749142890.648 [DAT](INFO): DAT read: Tx time:17:01:29.7615

2025-06-05T17:01:30.648Z,1749142890.648 [DAT](INFO): Ping request sent.
2025-06-05T17:01:30.648Z,1749142890.648 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:30.649Z,1749142890.649 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-05T17:01:30.659Z,1749142890.659 [DAT](INFO): direction in FSK: [0.961352,-0.241475,-0.132256]
2025-06-05T17:01:30.659Z,1749142890.659 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:30.659Z,1749142890.659 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:30.683Z,1749142890.683 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:30.684Z,1749142890.684 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:30.701Z,1749142890.701 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.052658
2025-06-05T17:01:30.728Z,1749142890.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.200001 m,
      deltaT: 3.542126 s,
      deltaX: -2.299999 m,
      approachRate: -0.649327 m/s,
      rangeRepo size: 4

2025-06-05T17:01:30.747Z,1749142890.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.032581 m,
      bearing: 148.882317 deg,
      lat: 36.906276 deg,
      lon: -122.115894 deg,
      deltaT: 3.542126 s,
      deltaX: -2.280670 m,
      approachRate: -0.643870 m/s,
      posRepo size: 4

2025-06-05T17:01:30.748Z,1749142890.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.03 m.
2025-06-05T17:01:30.756Z,1749142890.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.032581 m,
      nav range: 19.874689 m,
      bearing: 148.429027 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024332 deg/s,
      cmd heading: 159.815771 deg,
      new cmd heading: 159.777830 deg.

2025-06-05T17:01:30.757Z,1749142890.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.788649 target range: 20.032581 and range: 20.20 m.
2025-06-05T17:01:30.875Z,1749142890.875 [DAT](INFO): DAT read: TxSync time:17:01:29.7607

2025-06-05T17:01:30.876Z,1749142890.876 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.228168
2025-06-05T17:01:31.094Z,1749142891.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.03 m.
2025-06-05T17:01:31.101Z,1749142891.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.032581 m,
      nav range: 19.614632 m,
      bearing: 148.472061 deg,
      approach rate: -0.710677 m/s,
      LOS rate: 0.119160 deg/s,
      cmd heading: 159.777837 deg,
      new cmd heading: 159.908649 deg.

2025-06-05T17:01:31.102Z,1749142891.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.790932 target range: 20.032581 and range: 20.20 m.
2025-06-05T17:01:31.127Z,1749142891.127 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.479112
2025-06-05T17:01:31.381Z,1749142891.381 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.733058
2025-06-05T17:01:31.491Z,1749142891.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.03 m.
2025-06-05T17:01:31.494Z,1749142891.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.032581 m,
      nav range: 19.365044 m,
      bearing: 148.509396 deg,
      approach rate: -0.627339 m/s,
      LOS rate: 0.095050 deg/s,
      cmd heading: 159.908648 deg,
      new cmd heading: 160.022096 deg.

2025-06-05T17:01:31.495Z,1749142891.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.792912 target range: 20.032581 and range: 20.20 m.
2025-06-05T17:01:31.632Z,1749142891.632 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.983943
2025-06-05T17:01:31.857Z,1749142891.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:31.859Z,1749142891.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.03 m.
2025-06-05T17:01:31.862Z,1749142891.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.032581 m,
      nav range: 19.139389 m,
      bearing: 148.543679 deg,
      approach rate: -0.613357 m/s,
      LOS rate: 0.094284 deg/s,
      cmd heading: 160.022098 deg,
      new cmd heading: 160.126159 deg.

2025-06-05T17:01:31.863Z,1749142891.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.794729 target range: 20.032581 and range: 20.20 m.
2025-06-05T17:01:31.884Z,1749142891.884 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.235563
2025-06-05T17:01:32.135Z,1749142892.135 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.487328
2025-06-05T17:01:32.295Z,1749142892.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.03 m.
2025-06-05T17:01:32.311Z,1749142892.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.032581 m,
      nav range: 18.888691 m,
      bearing: 148.583606 deg,
      approach rate: -0.582258 m/s,
      LOS rate: 0.093964 deg/s,
      cmd heading: 160.126163 deg,
      new cmd heading: 160.247535 deg.

2025-06-05T17:01:32.312Z,1749142892.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796847 target range: 20.032581 and range: 20.20 m.
2025-06-05T17:01:32.388Z,1749142892.388 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.739950
2025-06-05T17:01:32.639Z,1749142892.639 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.991234
2025-06-05T17:01:32.727Z,1749142892.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.03 m.
2025-06-05T17:01:32.729Z,1749142892.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.032581 m,
      nav range: 18.618277 m,
      bearing: 148.595737 deg,
      approach rate: -0.619141 m/s,
      LOS rate: 0.028179 deg/s,
      cmd heading: 160.247535 deg,
      new cmd heading: 160.284457 deg.

2025-06-05T17:01:32.731Z,1749142892.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797492 target range: 20.032581 and range: 20.20 m.
2025-06-05T17:01:32.891Z,1749142892.891 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.243094
2025-06-05T17:01:33.078Z,1749142893.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.03 m.
2025-06-05T17:01:33.081Z,1749142893.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.032581 m,
      nav range: 18.375687 m,
      bearing: 148.608805 deg,
      approach rate: -0.691147 m/s,
      LOS rate: 0.037722 deg/s,
      cmd heading: 160.284459 deg,
      new cmd heading: 160.324180 deg.

2025-06-05T17:01:33.082Z,1749142893.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.798185 target range: 20.032581 and range: 20.20 m.
2025-06-05T17:01:33.143Z,1749142893.143 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.495331
2025-06-05T17:01:33.399Z,1749142893.399 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.750418
2025-06-05T17:01:33.511Z,1749142893.511 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3278,-32768,V
2025-06-05T17:01:33.547Z,1749142893.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.03 m.
2025-06-05T17:01:33.569Z,1749142893.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.032581 m,
      nav range: 18.090424 m,
      bearing: 148.624620 deg,
      approach rate: -0.608521 m/s,
      LOS rate: 0.034268 deg/s,
      cmd heading: 160.324183 deg,
      new cmd heading: 160.372376 deg.

2025-06-05T17:01:33.570Z,1749142893.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.799026 target range: 20.032581 and range: 20.20 m.
2025-06-05T17:01:33.649Z,1749142893.649 [DAT](INFO): DAT read: Rx Time:17:01:32.1899

2025-06-05T17:01:33.651Z,1749142893.651 [DAT](INFO): Rx dataTimestamp_ set to:1749142893.649223
2025-06-05T17:01:33.651Z,1749142893.651 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.003199
2025-06-05T17:01:33.871Z,1749142893.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:33.873Z,1749142893.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.03 m.
2025-06-05T17:01:33.892Z,1749142893.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.032581 m,
      nav range: 17.874445 m,
      bearing: 148.639585 deg,
      approach rate: -0.660275 m/s,
      LOS rate: 0.046302 deg/s,
      cmd heading: 160.372377 deg,
      new cmd heading: 160.417814 deg.

2025-06-05T17:01:33.893Z,1749142893.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.799819 target range: 20.032581 and range: 20.20 m.
2025-06-05T17:01:33.901Z,1749142893.901 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.252306
2025-06-05T17:01:34.157Z,1749142894.157 [DAT](INFO): DAT read: 17:01:32.1899 LVL= 21360, 25057, 14690, 29491, AGC= 58, IDX= 421,-0.16, 1.057,-0.255, 1.468, 0.835, PHS= 0.310,-1.043, 0.630, RAW= 160.4,   1.4, CAL= 162.1,  -7.4, ROT= 347.9,   7.4

2025-06-05T17:01:34.158Z,1749142894.158 [DAT](INFO): got valid direction response:
 17:01:32.1899 LVL= 21360, 25057, 14690, 29491, AGC= 58, IDX= 421,-0.16, 1.057,-0.255, 1.468, 0.835, PHS= 0.310,-1.043, 0.630, RAW= 160.4,   1.4, CAL= 162.1,  -7.4, ROT= 347.9,   7.4

2025-06-05T17:01:34.159Z,1749142894.159 [DAT](INFO): DAT read: Bearing 347.9,   7.4 (Local)

2025-06-05T17:01:34.159Z,1749142894.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.9,   7.4 (Local)

2025-06-05T17:01:34.161Z,1749142894.161 [DAT](INFO): DAT read: Range 10 to 50 : 18.2 m  (Round-trip  24.3 ms) speed  0.5 m/s

2025-06-05T17:01:34.161Z,1749142894.161 [DAT](INFO): DAT read: user:2546>

2025-06-05T17:01:34.162Z,1749142894.162 [DAT](INFO): DAT read: Tx time:17:01:33.3115

2025-06-05T17:01:34.162Z,1749142894.162 [DAT](INFO): Ping request sent.
2025-06-05T17:01:34.162Z,1749142894.162 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:34.163Z,1749142894.163 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-05T17:01:34.164Z,1749142894.164 [DAT](INFO): direction in FSK: [0.969639,-0.207873,-0.128796]
2025-06-05T17:01:34.164Z,1749142894.164 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:34.164Z,1749142894.164 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:34.168Z,1749142894.168 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:34.168Z,1749142894.168 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:34.172Z,1749142894.172 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.009233
2025-06-05T17:01:34.372Z,1749142894.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 3.527713 s,
      deltaX: -2.000000 m,
      approachRate: -0.566940 m/s,
      rangeRepo size: 4

2025-06-05T17:01:34.378Z,1749142894.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.049334 m,
      bearing: 150.226849 deg,
      lat: 36.906276 deg,
      lon: -122.115894 deg,
      deltaT: 3.527713 s,
      deltaX: -1.983248 m,
      approachRate: -0.562191 m/s,
      posRepo size: 4

2025-06-05T17:01:34.379Z,1749142894.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.05 m.
2025-06-05T17:01:34.382Z,1749142894.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.049334 m,
      nav range: 17.586536 m,
      bearing: 148.661174 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.046302 deg/s,
      cmd heading: 160.417812 deg,
      new cmd heading: 160.486938 deg.

2025-06-05T17:01:34.387Z,1749142894.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.801025 target range: 18.049334 and range: 18.20 m.
2025-06-05T17:01:34.411Z,1749142894.411 [DAT](INFO): DAT read: TxSync time:17:01:33.3107

2025-06-05T17:01:34.412Z,1749142894.412 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.249421
2025-06-05T17:01:34.663Z,1749142894.663 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.500789
2025-06-05T17:01:34.803Z,1749142894.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.05 m.
2025-06-05T17:01:34.806Z,1749142894.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.049334 m,
      nav range: 17.278494 m,
      bearing: 148.603574 deg,
      approach rate: -0.713716 m/s,
      LOS rate: -0.135835 deg/s,
      cmd heading: 160.486933 deg,
      new cmd heading: 160.311053 deg.

2025-06-05T17:01:34.811Z,1749142894.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797956 target range: 18.049334 and range: 18.20 m.
2025-06-05T17:01:34.917Z,1749142894.917 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.753800
2025-06-05T17:01:35.148Z,1749142895.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.05 m.
2025-06-05T17:01:35.153Z,1749142895.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.049334 m,
      nav range: 17.044662 m,
      bearing: 148.557056 deg,
      approach rate: -0.677466 m/s,
      LOS rate: -0.136623 deg/s,
      cmd heading: 160.311056 deg,
      new cmd heading: 160.169587 deg.

2025-06-05T17:01:35.154Z,1749142895.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.795487 target range: 18.049334 and range: 18.20 m.
2025-06-05T17:01:35.167Z,1749142895.167 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.004686
2025-06-05T17:01:35.420Z,1749142895.420 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.257312
2025-06-05T17:01:35.597Z,1749142895.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.05 m.
2025-06-05T17:01:35.604Z,1749142895.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.049334 m,
      nav range: 16.745548 m,
      bearing: 148.476018 deg,
      approach rate: -0.665753 m/s,
      LOS rate: -0.183591 deg/s,
      cmd heading: 160.169589 deg,
      new cmd heading: 159.922135 deg.

2025-06-05T17:01:35.605Z,1749142895.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.791168 target range: 18.049334 and range: 18.20 m.
2025-06-05T17:01:35.672Z,1749142895.672 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.509892
2025-06-05T17:01:35.923Z,1749142895.923 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.760895
2025-06-05T17:01:35.944Z,1749142895.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:35.946Z,1749142895.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.05 m.
2025-06-05T17:01:35.951Z,1749142895.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.049334 m,
      nav range: 16.479984 m,
      bearing: 148.402342 deg,
      approach rate: -0.761312 m/s,
      LOS rate: -0.214616 deg/s,
      cmd heading: 159.922131 deg,
      new cmd heading: 159.697543 deg.

2025-06-05T17:01:35.952Z,1749142895.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.787248 target range: 18.049334 and range: 18.20 m.
2025-06-05T17:01:36.175Z,1749142896.175 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.012571
2025-06-05T17:01:36.370Z,1749142896.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.05 m.
2025-06-05T17:01:36.373Z,1749142896.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.049334 m,
      nav range: 16.195705 m,
      bearing: 148.322436 deg,
      approach rate: -0.671028 m/s,
      LOS rate: -0.191924 deg/s,
      cmd heading: 159.697541 deg,
      new cmd heading: 159.453618 deg.

2025-06-05T17:01:36.374Z,1749142896.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.782991 target range: 18.049334 and range: 18.20 m.
2025-06-05T17:01:36.427Z,1749142896.427 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.264493
2025-06-05T17:01:36.679Z,1749142896.679 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.516650
2025-06-05T17:01:36.822Z,1749142896.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.05 m.
2025-06-05T17:01:36.845Z,1749142896.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.049334 m,
      nav range: 15.864361 m,
      bearing: 148.216653 deg,
      approach rate: -0.732797 m/s,
      LOS rate: -0.238834 deg/s,
      cmd heading: 159.453621 deg,
      new cmd heading: 159.129648 deg.

2025-06-05T17:01:36.846Z,1749142896.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.777336 target range: 18.049334 and range: 18.20 m.
2025-06-05T17:01:36.932Z,1749142896.932 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.769199
2025-06-05T17:01:37.184Z,1749142897.184 [DAT](INFO): DAT read: Rx Time:17:01:35.7369

2025-06-05T17:01:37.185Z,1749142897.185 [DAT](INFO): Rx dataTimestamp_ set to:1749142897.184562
2025-06-05T17:01:37.185Z,1749142897.185 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.022899
2025-06-05T17:01:37.220Z,1749142897.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.05 m.
2025-06-05T17:01:37.223Z,1749142897.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.049334 m,
      nav range: 15.578984 m,
      bearing: 148.121924 deg,
      approach rate: -0.716147 m/s,
      LOS rate: -0.242075 deg/s,
      cmd heading: 159.129652 deg,
      new cmd heading: 158.840261 deg.

2025-06-05T17:01:37.224Z,1749142897.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.772285 target range: 18.049334 and range: 18.20 m.
2025-06-05T17:01:37.438Z,1749142897.438 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.275164
2025-06-05T17:01:37.656Z,1749142897.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.05 m.
2025-06-05T17:01:37.659Z,1749142897.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.049334 m,
      nav range: 15.266486 m,
      bearing: 148.013917 deg,
      approach rate: -0.716781 m/s,
      LOS rate: -0.252810 deg/s,
      cmd heading: 158.840257 deg,
      new cmd heading: 158.509605 deg.

2025-06-05T17:01:37.660Z,1749142897.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.766515 target range: 18.049334 and range: 18.20 m.
2025-06-05T17:01:37.694Z,1749142897.694 [DAT](INFO): DAT read: 17:01:35.7369 LVL= 22592, 27697, 17042, 31315, AGC= 60, IDX= 405, 0.26,-3.055, 1.905,-2.703, 2.995, PHS= 0.321,-1.043, 0.582, RAW= 158.6,   1.9, CAL= 160.3,  -7.0, ROT= 349.7,   7.0

2025-06-05T17:01:37.696Z,1749142897.696 [DAT](INFO): got valid direction response:
 17:01:35.7369 LVL= 22592, 27697, 17042, 31315, AGC= 60, IDX= 405, 0.26,-3.055, 1.905,-2.703, 2.995, PHS= 0.321,-1.043, 0.582, RAW= 158.6,   1.9, CAL= 160.3,  -7.0, ROT= 349.7,   7.0

2025-06-05T17:01:37.697Z,1749142897.697 [DAT](INFO): DAT read: Bearing 349.7,   7.0 (Local)

2025-06-05T17:01:37.698Z,1749142897.698 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.7,   7.0 (Local)

2025-06-05T17:01:37.701Z,1749142897.701 [DAT](INFO): DAT read: Range 10 to 50 : 15.9 m  (Round-trip  21.2 ms) speed  0.7 m/s

2025-06-05T17:01:37.703Z,1749142897.703 [DAT](INFO): DAT read: user:2547>

2025-06-05T17:01:37.704Z,1749142897.704 [DAT](INFO): DAT read: Tx time:17:01:36.8615

2025-06-05T17:01:37.704Z,1749142897.704 [DAT](INFO): Ping request sent.
2025-06-05T17:01:37.705Z,1749142897.705 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:37.705Z,1749142897.705 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-05T17:01:37.708Z,1749142897.708 [DAT](INFO): direction in FSK: [0.976551,-0.177469,-0.121869]
2025-06-05T17:01:37.708Z,1749142897.708 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:37.709Z,1749142897.709 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:37.713Z,1749142897.713 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:37.759Z,1749142897.759 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:37.764Z,1749142897.764 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.059138
2025-06-05T17:01:37.939Z,1749142897.939 [DAT](INFO): DAT read: TxSync time:17:01:36.8607

2025-06-05T17:01:37.940Z,1749142897.940 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.235884
2025-06-05T17:01:38.049Z,1749142898.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 3.536026 s,
      deltaX: -2.300001 m,
      approachRate: -0.650448 m/s,
      rangeRepo size: 4

2025-06-05T17:01:38.056Z,1749142898.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.768432 m,
      bearing: 151.767166 deg,
      lat: 36.906276 deg,
      lon: -122.115896 deg,
      deltaT: 3.536026 s,
      deltaX: -2.280902 m,
      approachRate: -0.645047 m/s,
      posRepo size: 4

2025-06-05T17:01:38.058Z,1749142898.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.77 m.
2025-06-05T17:01:38.061Z,1749142898.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.768432 m,
      nav range: 14.905494 m,
      bearing: 148.555288 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.252810 deg/s,
      cmd heading: 158.509607 deg,
      new cmd heading: 158.212823 deg.

2025-06-05T17:01:38.062Z,1749142898.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.761335 target range: 15.768432 and range: 15.90 m.
2025-06-05T17:01:38.192Z,1749142898.192 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.487114
2025-06-05T17:01:38.443Z,1749142898.443 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.738647
2025-06-05T17:01:38.477Z,1749142898.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:38.493Z,1749142898.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.77 m.
2025-06-05T17:01:38.517Z,1749142898.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.768432 m,
      nav range: 14.576204 m,
      bearing: 148.446175 deg,
      approach rate: -0.741192 m/s,
      LOS rate: -0.251149 deg/s,
      cmd heading: 158.212822 deg,
      new cmd heading: 157.878091 deg.

2025-06-05T17:01:38.540Z,1749142898.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.755492 target range: 15.768432 and range: 15.90 m.
2025-06-05T17:01:38.695Z,1749142898.695 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.990812
2025-06-05T17:01:38.874Z,1749142898.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.77 m.
2025-06-05T17:01:38.877Z,1749142898.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.768432 m,
      nav range: 14.304353 m,
      bearing: 148.364019 deg,
      approach rate: -0.718783 m/s,
      LOS rate: -0.221351 deg/s,
      cmd heading: 157.878088 deg,
      new cmd heading: 157.626938 deg.

2025-06-05T17:01:38.883Z,1749142898.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.751109 target range: 15.768432 and range: 15.90 m.
2025-06-05T17:01:38.948Z,1749142898.948 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.243738
2025-06-05T17:01:39.200Z,1749142899.200 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.495836
2025-06-05T17:01:39.244Z,1749142899.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.77 m.
2025-06-05T17:01:39.247Z,1749142899.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.768432 m,
      nav range: 14.022925 m,
      bearing: 148.279651 deg,
      approach rate: -0.753295 m/s,
      LOS rate: -0.230359 deg/s,
      cmd heading: 157.626942 deg,
      new cmd heading: 157.368760 deg.

2025-06-05T17:01:39.248Z,1749142899.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.746603 target range: 15.768432 and range: 15.90 m.
2025-06-05T17:01:39.452Z,1749142899.452 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.747278
2025-06-05T17:01:39.664Z,1749142899.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.77 m.
2025-06-05T17:01:39.688Z,1749142899.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.768432 m,
      nav range: 13.723022 m,
      bearing: 148.226620 deg,
      approach rate: -0.713722 m/s,
      LOS rate: -0.128964 deg/s,
      cmd heading: 157.368761 deg,
      new cmd heading: 157.206190 deg.

2025-06-05T17:01:39.689Z,1749142899.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.743766 target range: 15.768432 and range: 15.90 m.
2025-06-05T17:01:39.703Z,1749142899.703 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.999080
2025-06-05T17:01:39.955Z,1749142899.955 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.250839
2025-06-05T17:01:40.058Z,1749142900.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.77 m.
2025-06-05T17:01:40.061Z,1749142900.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.768432 m,
      nav range: 13.454469 m,
      bearing: 148.181300 deg,
      approach rate: -0.680932 m/s,
      LOS rate: -0.117204 deg/s,
      cmd heading: 157.206188 deg,
      new cmd heading: 157.067516 deg.

2025-06-05T17:01:40.062Z,1749142900.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.741345 target range: 15.768432 and range: 15.90 m.
2025-06-05T17:01:40.207Z,1749142900.207 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.502890
2025-06-05T17:01:40.459Z,1749142900.459 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.754934
2025-06-05T17:01:40.487Z,1749142900.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:40.489Z,1749142900.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.77 m.
2025-06-05T17:01:40.504Z,1749142900.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.768432 m,
      nav range: 13.142648 m,
      bearing: 148.129666 deg,
      approach rate: -0.723246 m/s,
      LOS rate: -0.122604 deg/s,
      cmd heading: 157.067522 deg,
      new cmd heading: 156.908944 deg.

2025-06-05T17:01:40.505Z,1749142900.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.738578 target range: 15.768432 and range: 15.90 m.
2025-06-05T17:01:40.711Z,1749142900.711 [DAT](INFO): DAT read: Rx Time:17:01:39.2833

2025-06-05T17:01:40.712Z,1749142900.712 [DAT](INFO): Rx dataTimestamp_ set to:1749142900.711295
2025-06-05T17:01:40.712Z,1749142900.712 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.007761
2025-06-05T17:01:40.885Z,1749142900.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.77 m.
2025-06-05T17:01:40.888Z,1749142900.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.768432 m,
      nav range: 12.869004 m,
      bearing: 148.095240 deg,
      approach rate: -0.691056 m/s,
      LOS rate: -0.088785 deg/s,
      cmd heading: 156.908939 deg,
      new cmd heading: 156.803467 deg.

2025-06-05T17:01:40.889Z,1749142900.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.736737 target range: 15.768432 and range: 15.90 m.
2025-06-05T17:01:40.965Z,1749142900.965 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.260158
2025-06-05T17:01:41.222Z,1749142901.222 [DAT](INFO): DAT read: 17:01:39.2833 LVL= 23568, 32753, 13506, 32755, AGC= 56, IDX= 401,-0.24,-2.212, 2.737,-1.873,-2.401, PHS= 0.277,-1.099, 0.525, RAW= 158.1,   4.0, CAL= 159.2,  -5.1, ROT= 350.8,   5.1

2025-06-05T17:01:41.223Z,1749142901.223 [DAT](INFO): got valid direction response:
 17:01:39.2833 LVL= 23568, 32753, 13506, 32755, AGC= 56, IDX= 401,-0.24,-2.212, 2.737,-1.873,-2.401, PHS= 0.277,-1.099, 0.525, RAW= 158.1,   4.0, CAL= 159.2,  -5.1, ROT= 350.8,   5.1

2025-06-05T17:01:41.224Z,1749142901.224 [DAT](INFO): DAT read: Bearing 350.8,   5.1 (Local)

2025-06-05T17:01:41.224Z,1749142901.224 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.8,   5.1 (Local)

2025-06-05T17:01:41.225Z,1749142901.225 [DAT](INFO): DAT read: Range 10 to 50 : 13.2 m  (Round-trip  17.6 ms) speed  0.7 m/s

2025-06-05T17:01:41.226Z,1749142901.226 [DAT](INFO): DAT read: user:2548>

2025-06-05T17:01:41.227Z,1749142901.227 [DAT](INFO): DAT read: Tx time:17:01:40.4115

2025-06-05T17:01:41.227Z,1749142901.227 [DAT](INFO): Ping request sent.
2025-06-05T17:01:41.228Z,1749142901.228 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:41.228Z,1749142901.228 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-05T17:01:41.229Z,1749142901.229 [DAT](INFO): direction in FSK: [0.983228,-0.159248,-0.088894]
2025-06-05T17:01:41.229Z,1749142901.229 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:41.229Z,1749142901.229 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:41.234Z,1749142901.234 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:41.234Z,1749142901.234 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:41.237Z,1749142901.237 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.009377
2025-06-05T17:01:41.376Z,1749142901.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 3.527909 s,
      deltaX: -2.700000 m,
      approachRate: -0.765326 m/s,
      rangeRepo size: 4

2025-06-05T17:01:41.383Z,1749142901.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.091017 m,
      bearing: 151.476533 deg,
      lat: 36.906273 deg,
      lon: -122.115897 deg,
      deltaT: 3.527909 s,
      deltaX: -2.677415 m,
      approachRate: -0.758924 m/s,
      posRepo size: 4

2025-06-05T17:01:41.383Z,1749142901.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.09 m.
2025-06-05T17:01:41.395Z,1749142901.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.091017 m,
      nav range: 12.851431 m,
      bearing: 149.501447 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088785 deg/s,
      cmd heading: 156.803467 deg,
      new cmd heading: 156.672902 deg.

2025-06-05T17:01:41.397Z,1749142901.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.734458 target range: 13.091017 and range: 13.20 m.
2025-06-05T17:01:41.468Z,1749142901.468 [DAT](INFO): DAT read: TxSync time:17:01:40.4107

2025-06-05T17:01:41.469Z,1749142901.469 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.240981
2025-06-05T17:01:41.719Z,1749142901.719 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.491505
2025-06-05T17:01:41.786Z,1749142901.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.09 m.
2025-06-05T17:01:41.793Z,1749142901.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.091017 m,
      nav range: 12.566185 m,
      bearing: 149.536418 deg,
      approach rate: -0.695321 m/s,
      LOS rate: 0.087183 deg/s,
      cmd heading: 156.672901 deg,
      new cmd heading: 156.780197 deg.

2025-06-05T17:01:41.802Z,1749142901.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.736331 target range: 13.091017 and range: 13.20 m.
2025-06-05T17:01:41.971Z,1749142901.971 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.743693
2025-06-05T17:01:42.091Z,1749142902.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.09 m.
2025-06-05T17:01:42.094Z,1749142902.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.091017 m,
      nav range: 12.370566 m,
      bearing: 149.561339 deg,
      approach rate: -0.640980 m/s,
      LOS rate: 0.082950 deg/s,
      cmd heading: 156.780203 deg,
      new cmd heading: 156.856148 deg.

2025-06-05T17:01:42.096Z,1749142902.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.737656 target range: 13.091017 and range: 13.20 m.
2025-06-05T17:01:42.223Z,1749142902.223 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.995632
2025-06-05T17:01:42.478Z,1749142902.478 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.250646
2025-06-05T17:01:42.540Z,1749142902.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:42.575Z,1749142902.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.09 m.
2025-06-05T17:01:42.599Z,1749142902.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.091017 m,
      nav range: 12.091880 m,
      bearing: 149.609601 deg,
      approach rate: -0.582663 m/s,
      LOS rate: 0.103228 deg/s,
      cmd heading: 156.856155 deg,
      new cmd heading: 157.004276 deg.

2025-06-05T17:01:42.608Z,1749142902.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.740242 target range: 13.091017 and range: 13.20 m.
2025-06-05T17:01:42.732Z,1749142902.732 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.503932
2025-06-05T17:01:42.925Z,1749142902.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.09 m.
2025-06-05T17:01:42.928Z,1749142902.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.091017 m,
      nav range: 11.843382 m,
      bearing: 149.675199 deg,
      approach rate: -0.697667 m/s,
      LOS rate: 0.188035 deg/s,
      cmd heading: 157.004274 deg,
      new cmd heading: 157.205198 deg.

2025-06-05T17:01:42.929Z,1749142902.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.743748 target range: 13.091017 and range: 13.20 m.
2025-06-05T17:01:42.984Z,1749142902.984 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.756678
2025-06-05T17:01:43.235Z,1749142903.235 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.007517
2025-06-05T17:01:43.308Z,1749142903.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.09 m.
2025-06-05T17:01:43.311Z,1749142903.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.091017 m,
      nav range: 11.606349 m,
      bearing: 149.744222 deg,
      approach rate: -0.619760 m/s,
      LOS rate: 0.184157 deg/s,
      cmd heading: 157.205205 deg,
      new cmd heading: 157.416501 deg.

2025-06-05T17:01:43.312Z,1749142903.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.747436 target range: 13.091017 and range: 13.20 m.
2025-06-05T17:01:43.490Z,1749142903.490 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.262609
2025-06-05T17:01:43.739Z,1749142903.739 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.511610
2025-06-05T17:01:43.746Z,1749142903.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.09 m.
2025-06-05T17:01:43.751Z,1749142903.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.091017 m,
      nav range: 11.343836 m,
      bearing: 149.859792 deg,
      approach rate: -0.599709 m/s,
      LOS rate: 0.270127 deg/s,
      cmd heading: 157.416504 deg,
      new cmd heading: 157.771230 deg.

2025-06-05T17:01:43.752Z,1749142903.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.753628 target range: 13.091017 and range: 13.20 m.
2025-06-05T17:01:43.991Z,1749142903.991 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.763657
2025-06-05T17:01:44.108Z,1749142904.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.09 m.
2025-06-05T17:01:44.112Z,1749142904.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.091017 m,
      nav range: 11.126521 m,
      bearing: 149.961787 deg,
      approach rate: -0.598924 m/s,
      LOS rate: 0.286591 deg/s,
      cmd heading: 157.771236 deg,
      new cmd heading: 158.083195 deg.

2025-06-05T17:01:44.113Z,1749142904.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.759072 target range: 13.091017 and range: 13.20 m.
2025-06-05T17:01:44.243Z,1749142904.243 [DAT](INFO): DAT read: Rx Time:17:01:42.8302

2025-06-05T17:01:44.244Z,1749142904.244 [DAT](INFO): Rx dataTimestamp_ set to:1749142904.243489
2025-06-05T17:01:44.244Z,1749142904.244 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.016728
2025-06-05T17:01:44.498Z,1749142904.498 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.269544
2025-06-05T17:01:44.563Z,1749142904.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:44.565Z,1749142904.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.09 m.
2025-06-05T17:01:44.593Z,1749142904.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.091017 m,
      nav range: 10.860813 m,
      bearing: 150.094096 deg,
      approach rate: -0.581777 m/s,
      LOS rate: 0.296782 deg/s,
      cmd heading: 158.083198 deg,
      new cmd heading: 158.489829 deg.

2025-06-05T17:01:44.607Z,1749142904.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.766169 target range: 13.091017 and range: 13.20 m.
2025-06-05T17:01:44.756Z,1749142904.756 [DAT](INFO): DAT read: 17:01:42.8302 LVL= 32752, 32753, 24610, 32755, AGC= 57, IDX= 416, 0.40, 2.460, 1.063, 2.554, 2.269, PHS= 0.279,-1.160, 0.282, RAW= 150.1,   8.4, CAL= 150.8,  -0.5, ROT= 359.2,   0.5

2025-06-05T17:01:44.757Z,1749142904.757 [DAT](INFO): got valid direction response:
 17:01:42.8302 LVL= 32752, 32753, 24610, 32755, AGC= 57, IDX= 416, 0.40, 2.460, 1.063, 2.554, 2.269, PHS= 0.279,-1.160, 0.282, RAW= 150.1,   8.4, CAL= 150.8,  -0.5, ROT= 359.2,   0.5

2025-06-05T17:01:44.762Z,1749142904.762 [DAT](INFO): DAT read: Bearing 359.2,   0.5 (Local)

2025-06-05T17:01:44.762Z,1749142904.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,   0.5 (Local)

2025-06-05T17:01:44.764Z,1749142904.764 [DAT](INFO): DAT read: Range 10 to 50 : 10.8 m  (Round-trip  14.5 ms) speed  0.4 m/s

2025-06-05T17:01:44.764Z,1749142904.764 [DAT](INFO): DAT read: user:2549>

2025-06-05T17:01:44.765Z,1749142904.765 [DAT](INFO): DAT read: Tx time:17:01:43.9116

2025-06-05T17:01:44.767Z,1749142904.767 [DAT](INFO): Ping request sent.
2025-06-05T17:01:44.767Z,1749142904.767 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:44.767Z,1749142904.767 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-05T17:01:44.768Z,1749142904.768 [DAT](INFO): direction in FSK: [0.999864,-0.013962,-0.008727]
2025-06-05T17:01:44.769Z,1749142904.769 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:44.769Z,1749142904.769 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:44.777Z,1749142904.777 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:44.783Z,1749142904.783 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:44.797Z,1749142904.797 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.029949
2025-06-05T17:01:45.001Z,1749142905.001 [DAT](INFO): DAT read: TxSync time:17:01:43.9108

2025-06-05T17:01:45.002Z,1749142905.002 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.234598
2025-06-05T17:01:45.008Z,1749142905.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 3.532635 s,
      deltaX: -2.400000 m,
      approachRate: -0.679379 m/s,
      rangeRepo size: 4

2025-06-05T17:01:45.015Z,1749142905.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.710877 m,
      bearing: 158.238099 deg,
      lat: 36.906270 deg,
      lon: -122.115901 deg,
      deltaT: 3.532635 s,
      deltaX: -2.380139 m,
      approachRate: -0.673757 m/s,
      posRepo size: 4

2025-06-05T17:01:45.017Z,1749142905.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-05T17:01:45.028Z,1749142905.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.710877 m,
      nav range: 10.739788 m,
      bearing: 152.441061 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.296782 deg/s,
      cmd heading: 158.489827 deg,
      new cmd heading: 158.883751 deg.

2025-06-05T17:01:45.029Z,1749142905.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.773045 target range: 10.710877 and range: 10.80 m.
2025-06-05T17:01:45.253Z,1749142905.253 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.485915
2025-06-05T17:01:45.342Z,1749142905.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-05T17:01:45.345Z,1749142905.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.710877 m,
      nav range: 10.531396 m,
      bearing: 152.602428 deg,
      approach rate: -0.630773 m/s,
      LOS rate: 0.498100 deg/s,
      cmd heading: 158.883751 deg,
      new cmd heading: 159.377420 deg.

2025-06-05T17:01:45.350Z,1749142905.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.781661 target range: 10.710877 and range: 10.80 m.
2025-06-05T17:01:45.505Z,1749142905.505 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.737838
2025-06-05T17:01:45.756Z,1749142905.756 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.988827
2025-06-05T17:01:45.768Z,1749142905.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-05T17:01:45.771Z,1749142905.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.710877 m,
      nav range: 10.267974 m,
      bearing: 152.818283 deg,
      approach rate: -0.613068 m/s,
      LOS rate: 0.515252 deg/s,
      cmd heading: 159.377424 deg,
      new cmd heading: 160.041571 deg.

2025-06-05T17:01:45.772Z,1749142905.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.793252 target range: 10.710877 and range: 10.80 m.
2025-06-05T17:01:46.007Z,1749142906.007 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.240265
2025-06-05T17:01:46.214Z,1749142906.214 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:01:46.239Z,1749142906.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-05T17:01:46.242Z,1749142906.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.710877 m,
      nav range: 9.985239 m,
      bearing: 153.065446 deg,
      approach rate: -0.599690 m/s,
      LOS rate: 0.539082 deg/s,
      cmd heading: 160.041578 deg,
      new cmd heading: 160.804013 deg.

2025-06-05T17:01:46.243Z,1749142906.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806560 target range: 10.710877 and range: 10.80 m.
2025-06-05T17:01:46.259Z,1749142906.259 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.492185
2025-06-05T17:01:46.514Z,1749142906.514 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.746363
2025-06-05T17:01:46.712Z,1749142906.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:46.721Z,1749142906.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-05T17:01:46.728Z,1749142906.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.710877 m,
      nav range: 9.708417 m,
      bearing: 153.321507 deg,
      approach rate: -0.576334 m/s,
      LOS rate: 0.548311 deg/s,
      cmd heading: 160.804018 deg,
      new cmd heading: 161.594054 deg.

2025-06-05T17:01:46.729Z,1749142906.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.820348 target range: 10.710877 and range: 10.80 m.
2025-06-05T17:01:46.763Z,1749142906.763 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.996367
2025-06-05T17:01:47.016Z,1749142907.016 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.248771
2025-06-05T17:01:47.181Z,1749142907.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-05T17:01:47.188Z,1749142907.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.710877 m,
      nav range: 9.431240 m,
      bearing: 153.573082 deg,
      approach rate: -0.601094 m/s,
      LOS rate: 0.561604 deg/s,
      cmd heading: 161.594052 deg,
      new cmd heading: 162.370907 deg.

2025-06-05T17:01:47.189Z,1749142907.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833907 target range: 10.710877 and range: 10.80 m.
2025-06-05T17:01:47.219Z,1749142907.219 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:01:47.269Z,1749142907.269 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.501461
2025-06-05T17:01:47.520Z,1749142907.520 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.752931
2025-06-05T17:01:47.593Z,1749142907.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-05T17:01:47.626Z,1749142907.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.710877 m,
      nav range: 9.179524 m,
      bearing: 153.810750 deg,
      approach rate: -0.609804 m/s,
      LOS rate: 0.591558 deg/s,
      cmd heading: 162.370904 deg,
      new cmd heading: 163.103416 deg.

2025-06-05T17:01:47.639Z,1749142907.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.846692 target range: 10.710877 and range: 10.80 m.
2025-06-05T17:01:47.772Z,1749142907.772 [DAT](INFO): DAT read: Rx Time:17:01:46.3276

2025-06-05T17:01:47.774Z,1749142907.774 [DAT](INFO): Rx dataTimestamp_ set to:1749142907.772587
2025-06-05T17:01:47.775Z,1749142907.775 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.007899
2025-06-05T17:01:48.007Z,1749142908.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-05T17:01:48.011Z,1749142908.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.710877 m,
      nav range: 8.907379 m,
      bearing: 154.022488 deg,
      approach rate: -0.657529 m/s,
      LOS rate: 0.527210 deg/s,
      cmd heading: 163.103415 deg,
      new cmd heading: 163.758008 deg.

2025-06-05T17:01:48.012Z,1749142908.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858116 target range: 10.710877 and range: 10.80 m.
2025-06-05T17:01:48.023Z,1749142908.023 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.256265
2025-06-05T17:01:48.281Z,1749142908.281 [DAT](INFO): DAT read: 17:01:46.3276 LVL= 32752, 32753, 29410, 32755, AGC= 55, IDX= 422, 0.02,-2.182, 2.597,-2.293,-2.431, PHS= 0.337,-1.209, 0.134, RAW= 143.1,  10.2, CAL= 145.6,   2.8, ROT=   4.4,  -2.8

2025-06-05T17:01:48.282Z,1749142908.282 [DAT](INFO): got valid direction response:
 17:01:46.3276 LVL= 32752, 32753, 29410, 32755, AGC= 55, IDX= 422, 0.02,-2.182, 2.597,-2.293,-2.431, PHS= 0.337,-1.209, 0.134, RAW= 143.1,  10.2, CAL= 145.6,   2.8, ROT=   4.4,  -2.8

2025-06-05T17:01:48.284Z,1749142908.284 [DAT](INFO): DAT read: Bearing   4.4,  -2.8 (Local)

2025-06-05T17:01:48.285Z,1749142908.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.4,  -2.8 (Local)

2025-06-05T17:01:48.286Z,1749142908.286 [DAT](INFO): DAT read: Range 10 to 50 : 8.9 m  (Round-trip  11.9 ms) speed  0.3 m/s

2025-06-05T17:01:48.287Z,1749142908.287 [DAT](INFO): DAT read: user:2550>

2025-06-05T17:01:48.288Z,1749142908.288 [DAT](INFO): DAT read: Tx time:17:01:47.4116

2025-06-05T17:01:48.288Z,1749142908.288 [DAT](INFO): Ping request sent.
2025-06-05T17:01:48.288Z,1749142908.288 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:48.288Z,1749142908.288 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-05T17:01:48.289Z,1749142908.289 [DAT](INFO): direction in FSK: [0.995862,0.076627,0.048850]
2025-06-05T17:01:48.290Z,1749142908.290 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:48.290Z,1749142908.290 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:48.293Z,1749142908.293 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:48.293Z,1749142908.293 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:48.297Z,1749142908.297 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.009367
2025-06-05T17:01:48.463Z,1749142908.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 3.527374 s,
      deltaX: -1.900001 m,
      approachRate: -0.538644 m/s,
      rangeRepo size: 4

2025-06-05T17:01:48.465Z,1749142908.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.826530 m,
      bearing: 163.292015 deg,
      lat: 36.906268 deg,
      lon: -122.115901 deg,
      deltaT: 3.527374 s,
      deltaX: -1.884348 m,
      approachRate: -0.534207 m/s,
      posRepo size: 4

2025-06-05T17:01:48.466Z,1749142908.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.83 m.
2025-06-05T17:01:48.470Z,1749142908.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 8.90 m.
2025-06-05T17:01:48.471Z,1749142908.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-05T17:01:48.473Z,1749142908.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 8.854384 m,
      bearing: 155.158756 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.527210 deg/s,
      cmd heading: 163.758006 deg,
      new cmd heading: 164.470725 deg.

2025-06-05T17:01:48.499Z,1749142908.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870556 target range: 8.826530 and range: 8.90 m.
2025-06-05T17:01:48.528Z,1749142908.528 [DAT](INFO): DAT read: TxSync time:17:01:47.4108

2025-06-05T17:01:48.529Z,1749142908.529 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.241152
2025-06-05T17:01:48.779Z,1749142908.779 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.491050
2025-06-05T17:01:48.908Z,1749142908.908 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:48.915Z,1749142908.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:48.923Z,1749142908.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 8.550704 m,
      bearing: 155.405709 deg,
      approach rate: -0.664820 m/s,
      LOS rate: 0.559831 deg/s,
      cmd heading: 164.470723 deg,
      new cmd heading: 165.237847 deg.

2025-06-05T17:01:48.924Z,1749142908.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.883945 target range: 8.826530 and range: 8.90 m.
2025-06-05T17:01:49.031Z,1749142909.031 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.743247
2025-06-05T17:01:49.225Z,1749142909.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:49.237Z,1749142909.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 8.338444 m,
      bearing: 155.576785 deg,
      approach rate: -0.684912 m/s,
      LOS rate: 0.566069 deg/s,
      cmd heading: 165.237849 deg,
      new cmd heading: 165.764124 deg.

2025-06-05T17:01:49.263Z,1749142909.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.893130 target range: 8.826530 and range: 8.90 m.
2025-06-05T17:01:49.285Z,1749142909.285 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.996435
2025-06-05T17:01:49.535Z,1749142909.535 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.247224
2025-06-05T17:01:49.623Z,1749142909.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:49.625Z,1749142909.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 8.057501 m,
      bearing: 155.774005 deg,
      approach rate: -0.706750 m/s,
      LOS rate: 0.513433 deg/s,
      cmd heading: 165.764129 deg,
      new cmd heading: 166.376396 deg.

2025-06-05T17:01:49.627Z,1749142909.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.903816 target range: 8.826530 and range: 8.90 m.
2025-06-05T17:01:49.788Z,1749142909.788 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.499976
2025-06-05T17:01:50.039Z,1749142910.039 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.750982
2025-06-05T17:01:50.077Z,1749142910.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:50.085Z,1749142910.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 7.755834 m,
      bearing: 155.948457 deg,
      approach rate: -0.663307 m/s,
      LOS rate: 0.398505 deg/s,
      cmd heading: 166.376400 deg,
      new cmd heading: 166.920096 deg.

2025-06-05T17:01:50.091Z,1749142910.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.913305 target range: 8.826530 and range: 8.90 m.
2025-06-05T17:01:50.291Z,1749142910.291 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.002976
2025-06-05T17:01:50.428Z,1749142910.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:50.436Z,1749142910.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 7.525253 m,
      bearing: 156.073026 deg,
      approach rate: -0.657204 m/s,
      LOS rate: 0.365926 deg/s,
      cmd heading: 166.920097 deg,
      new cmd heading: 167.305247 deg.

2025-06-05T17:01:50.437Z,1749142910.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.920027 target range: 8.826530 and range: 8.90 m.
2025-06-05T17:01:50.548Z,1749142910.548 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.258982
2025-06-05T17:01:50.795Z,1749142910.795 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.506987
2025-06-05T17:01:50.852Z,1749142910.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:50.875Z,1749142910.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 7.215128 m,
      bearing: 156.203463 deg,
      approach rate: -0.731022 m/s,
      LOS rate: 0.320679 deg/s,
      cmd heading: 167.305251 deg,
      new cmd heading: 167.713374 deg.

2025-06-05T17:01:50.876Z,1749142910.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.927150 target range: 8.826530 and range: 8.90 m.
2025-06-05T17:01:51.047Z,1749142911.047 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.759106
2025-06-05T17:01:51.229Z,1749142911.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:51.231Z,1749142911.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:51.236Z,1749142911.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 6.949405 m,
      bearing: 156.290204 deg,
      approach rate: -0.700881 m/s,
      LOS rate: 0.237540 deg/s,
      cmd heading: 167.713369 deg,
      new cmd heading: 167.983542 deg.

2025-06-05T17:01:51.237Z,1749142911.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.931866 target range: 8.826530 and range: 8.90 m.
2025-06-05T17:01:51.301Z,1749142911.301 [DAT](INFO): DAT read: Rx Time:17:01:49.8250

2025-06-05T17:01:51.302Z,1749142911.302 [DAT](INFO): Rx dataTimestamp_ set to:1749142911.301278
2025-06-05T17:01:51.304Z,1749142911.304 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.015645
2025-06-05T17:01:51.555Z,1749142911.555 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.266214
2025-06-05T17:01:51.731Z,1749142911.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:51.739Z,1749142911.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 6.645356 m,
      bearing: 156.384036 deg,
      approach rate: -0.614971 m/s,
      LOS rate: 0.198467 deg/s,
      cmd heading: 167.983544 deg,
      new cmd heading: 168.277915 deg.

2025-06-05T17:01:51.740Z,1749142911.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.937004 target range: 8.826530 and range: 8.90 m.
2025-06-05T17:01:51.813Z,1749142911.813 [DAT](INFO): DAT read: 17:01:49.8250 LVL= 29824, 32753, 21346, 32755, AGC= 58, IDX= 410, 0.31,-2.334, 2.478,-2.006,-2.542, PHS= 0.296,-1.216, 0.533, RAW= 157.2,   4.8, CAL= 158.1,  -4.4, ROT= 351.9,   4.4

2025-06-05T17:01:51.815Z,1749142911.815 [DAT](INFO): got valid direction response:
 17:01:49.8250 LVL= 29824, 32753, 21346, 32755, AGC= 58, IDX= 410, 0.31,-2.334, 2.478,-2.006,-2.542, PHS= 0.296,-1.216, 0.533, RAW= 157.2,   4.8, CAL= 158.1,  -4.4, ROT= 351.9,   4.4

2025-06-05T17:01:51.817Z,1749142911.817 [DAT](INFO): DAT read: Bearing 351.9,   4.4 (Local)

2025-06-05T17:01:51.817Z,1749142911.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.9,   4.4 (Local)

2025-06-05T17:01:51.828Z,1749142911.828 [DAT](INFO): DAT read: Range 10 to 50 : 6.9 m  (Round-trip  9.3 ms) speed  0.7 m/s

2025-06-05T17:01:51.829Z,1749142911.829 [DAT](INFO): DAT read: user:2551>

2025-06-05T17:01:51.839Z,1749142911.839 [DAT](INFO): DAT read: Tx time:17:01:50.9116

2025-06-05T17:01:51.841Z,1749142911.841 [DAT](INFO): Ping request sent.
2025-06-05T17:01:51.841Z,1749142911.841 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:51.841Z,1749142911.841 [DAT](INFO): DAT read: TxSync time:17:01:50.9108

2025-06-05T17:01:51.846Z,1749142911.846 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-05T17:01:51.847Z,1749142911.847 [DAT](INFO): direction in FSK: [0.987106,-0.140486,-0.076719]
2025-06-05T17:01:51.848Z,1749142911.848 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:51.848Z,1749142911.848 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:51.865Z,1749142911.865 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:51.867Z,1749142911.867 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:51.878Z,1749142911.878 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.029486
2025-06-05T17:01:52.056Z,1749142912.056 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.215176
2025-06-05T17:01:52.129Z,1749142912.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 3.528592 s,
      deltaX: -2.000000 m,
      approachRate: -0.566798 m/s,
      rangeRepo size: 4

2025-06-05T17:01:52.136Z,1749142912.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.843188 m,
      bearing: 156.859775 deg,
      lat: 36.906266 deg,
      lon: -122.115901 deg,
      deltaT: 3.528592 s,
      deltaX: -1.983342 m,
      approachRate: -0.562077 m/s,
      posRepo size: 4

2025-06-05T17:01:52.137Z,1749142912.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.84 m. 8.83 m.
2025-06-05T17:01:52.144Z,1749142912.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 6.339615 m,
      bearing: 156.476229 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.527210 deg/s,
      cmd heading: 168.277911 deg,
      new cmd heading: 168.915313 deg.

2025-06-05T17:01:52.145Z,1749142912.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.948128 target range: 8.826530 and range: 6.90 m.
2025-06-05T17:01:52.307Z,1749142912.307 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.466732
2025-06-05T17:01:52.471Z,1749142912.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:52.473Z,1749142912.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 6.107083 m,
      bearing: 156.527562 deg,
      approach rate: -0.723500 m/s,
      LOS rate: 0.165800 deg/s,
      cmd heading: 168.915318 deg,
      new cmd heading: 169.075181 deg.

2025-06-05T17:01:52.482Z,1749142912.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.950919 target range: 8.826530 and range: 6.90 m.
2025-06-05T17:01:52.559Z,1749142912.559 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.718704
2025-06-05T17:01:52.811Z,1749142912.811 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.970602
2025-06-05T17:01:52.901Z,1749142912.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:52.904Z,1749142912.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 5.801231 m,
      bearing: 156.588203 deg,
      approach rate: -0.681733 m/s,
      LOS rate: 0.142294 deg/s,
      cmd heading: 169.075186 deg,
      new cmd heading: 169.266701 deg.

2025-06-05T17:01:52.905Z,1749142912.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.954261 target range: 8.826530 and range: 6.90 m.
2025-06-05T17:01:53.063Z,1749142913.063 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.222618
2025-06-05T17:01:53.261Z,1749142913.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:53.268Z,1749142913.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:53.275Z,1749142913.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 5.561349 m,
      bearing: 156.604337 deg,
      approach rate: -0.649650 m/s,
      LOS rate: 0.045576 deg/s,
      cmd heading: 169.266704 deg,
      new cmd heading: 169.317191 deg.

2025-06-05T17:01:53.276Z,1749142913.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.955142 target range: 8.826530 and range: 6.90 m.
2025-06-05T17:01:53.316Z,1749142913.316 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.475085
2025-06-05T17:01:53.568Z,1749142913.568 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.727617
2025-06-05T17:01:53.670Z,1749142913.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:53.677Z,1749142913.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 5.276005 m,
      bearing: 156.600222 deg,
      approach rate: -0.710705 m/s,
      LOS rate: -0.010802 deg/s,
      cmd heading: 169.317193 deg,
      new cmd heading: 169.304182 deg.

2025-06-05T17:01:53.679Z,1749142913.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.954916 target range: 8.826530 and range: 6.90 m.
2025-06-05T17:01:53.820Z,1749142913.820 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.979245
2025-06-05T17:01:54.071Z,1749142914.071 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.230698
2025-06-05T17:01:54.081Z,1749142914.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:54.085Z,1749142914.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 5.002229 m,
      bearing: 156.537832 deg,
      approach rate: -0.665715 m/s,
      LOS rate: -0.160012 deg/s,
      cmd heading: 169.304188 deg,
      new cmd heading: 169.106774 deg.

2025-06-05T17:01:54.102Z,1749142914.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.951470 target range: 8.826530 and range: 6.90 m.
2025-06-05T17:01:54.325Z,1749142914.325 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.484249
2025-06-05T17:01:54.472Z,1749142914.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:54.476Z,1749142914.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 4.742221 m,
      bearing: 156.446110 deg,
      approach rate: -0.668174 m/s,
      LOS rate: -0.248633 deg/s,
      cmd heading: 169.106769 deg,
      new cmd heading: 168.816518 deg.

2025-06-05T17:01:54.477Z,1749142914.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.946404 target range: 8.826530 and range: 6.90 m.
2025-06-05T17:01:54.579Z,1749142914.579 [DAT](INFO): DAT read: Rx Time:17:01:53.3218

2025-06-05T17:01:54.580Z,1749142914.580 [DAT](INFO): Rx dataTimestamp_ set to:1749142914.579313
2025-06-05T17:01:54.580Z,1749142914.580 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.739680
2025-06-05T17:01:54.831Z,1749142914.831 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.990554
2025-06-05T17:01:54.931Z,1749142914.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:54.935Z,1749142914.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 4.460841 m,
      bearing: 156.370233 deg,
      approach rate: -0.611118 m/s,
      LOS rate: -0.175187 deg/s,
      cmd heading: 168.816513 deg,
      new cmd heading: 168.574527 deg.

2025-06-05T17:01:54.936Z,1749142914.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.942181 target range: 8.826530 and range: 6.90 m.
2025-06-05T17:01:55.093Z,1749142915.093 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.245315
2025-06-05T17:01:55.288Z,1749142915.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:55.293Z,1749142915.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:55.296Z,1749142915.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 4.227487 m,
      bearing: 156.253976 deg,
      approach rate: -0.644390 m/s,
      LOS rate: -0.338757 deg/s,
      cmd heading: 168.574533 deg,
      new cmd heading: 168.206514 deg.

2025-06-05T17:01:55.296Z,1749142915.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.935757 target range: 8.826530 and range: 6.90 m.
2025-06-05T17:01:55.337Z,1749142915.337 [DAT](INFO): DAT read: Range 10 to 50 : 4.5 m  (Round-trip  6.1 ms) speed  0.5 m/s

2025-06-05T17:01:55.338Z,1749142915.338 [DAT](INFO): DAT read: user:2552>

2025-06-05T17:01:55.339Z,1749142915.339 [DAT](INFO): DAT read: Tx time:17:01:54.4116

2025-06-05T17:01:55.339Z,1749142915.339 [DAT](INFO): Ping request sent.
2025-06-05T17:01:55.339Z,1749142915.339 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:55.340Z,1749142915.340 [DAT](INFO): DAT read: TxSync time:17:01:54.4108

2025-06-05T17:01:55.340Z,1749142915.340 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-06-05T17:01:55.340Z,1749142915.340 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:55.341Z,1749142915.341 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:55.342Z,1749142915.342 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.002632
2025-06-05T17:01:55.587Z,1749142915.587 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.248086
2025-06-05T17:01:55.697Z,1749142915.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 3.532179 s,
      deltaX: -2.400000 m,
      approachRate: -0.679467 m/s,
      rangeRepo size: 4

2025-06-05T17:01:55.698Z,1749142915.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:55.704Z,1749142915.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 3.954045 m,
      bearing: 156.073208 deg,
      approach rate: -0.677381 m/s,
      LOS rate: -0.478770 deg/s,
      cmd heading: 168.206509 deg,
      new cmd heading: 167.626724 deg.

2025-06-05T17:01:55.707Z,1749142915.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.925638 target range: 8.826530 and range: 4.50 m.
2025-06-05T17:01:55.841Z,1749142915.841 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.501770
2025-06-05T17:01:56.091Z,1749142916.091 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.752083
2025-06-05T17:01:56.127Z,1749142916.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:56.129Z,1749142916.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 3.691840 m,
      bearing: 155.941921 deg,
      approach rate: -0.615190 m/s,
      LOS rate: -0.329907 deg/s,
      cmd heading: 167.626721 deg,
      new cmd heading: 167.204892 deg.

2025-06-05T17:01:56.135Z,1749142916.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.918276 target range: 8.826530 and range: 4.50 m.
2025-06-05T17:01:56.343Z,1749142916.343 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.004116
2025-06-05T17:01:56.506Z,1749142916.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:56.535Z,1749142916.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 3.449741 m,
      bearing: 155.802968 deg,
      approach rate: -0.631689 m/s,
      LOS rate: -0.388001 deg/s,
      cmd heading: 167.204889 deg,
      new cmd heading: 166.758786 deg.

2025-06-05T17:01:56.539Z,1749142916.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.910490 target range: 8.826530 and range: 4.50 m.
2025-06-05T17:01:56.595Z,1749142916.595 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.256296
2025-06-05T17:01:56.847Z,1749142916.847 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.508097
2025-06-05T17:01:56.927Z,1749142916.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:56.930Z,1749142916.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 3.185850 m,
      bearing: 155.543695 deg,
      approach rate: -0.627084 m/s,
      LOS rate: -0.667141 deg/s,
      cmd heading: 166.758782 deg,
      new cmd heading: 165.916598 deg.

2025-06-05T17:01:56.951Z,1749142916.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.895791 target range: 8.826530 and range: 4.50 m.
2025-06-05T17:01:57.101Z,1749142917.101 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.761671
2025-06-05T17:01:57.297Z,1749142917.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:57.302Z,1749142917.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:57.305Z,1749142917.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 2.952871 m,
      bearing: 155.265493 deg,
      approach rate: -0.621134 m/s,
      LOS rate: -0.800220 deg/s,
      cmd heading: 165.916592 deg,
      new cmd heading: 165.016212 deg.

2025-06-05T17:01:57.307Z,1749142917.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.880076 target range: 8.826530 and range: 4.50 m.
2025-06-05T17:01:57.353Z,1749142917.353 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.014331
2025-06-05T17:01:57.605Z,1749142917.605 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.266079
2025-06-05T17:01:57.746Z,1749142917.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:57.751Z,1749142917.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 2.694328 m,
      bearing: 154.892321 deg,
      approach rate: -0.586955 m/s,
      LOS rate: -0.928476 deg/s,
      cmd heading: 165.016209 deg,
      new cmd heading: 163.789466 deg.

2025-06-05T17:01:57.755Z,1749142917.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858665 target range: 8.826530 and range: 4.50 m.
2025-06-05T17:01:57.855Z,1749142917.855 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.516277
2025-06-05T17:01:58.107Z,1749142918.107 [DAT](INFO): DAT read: Rx Time:17:01:56.8192

2025-06-05T17:01:58.108Z,1749142918.108 [DAT](INFO): Rx dataTimestamp_ set to:1749142918.107450
2025-06-05T17:01:58.108Z,1749142918.108 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.769344
2025-06-05T17:01:58.161Z,1749142918.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:58.168Z,1749142918.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 2.425184 m,
      bearing: 154.458559 deg,
      approach rate: -0.642370 m/s,
      LOS rate: -1.150149 deg/s,
      cmd heading: 163.789466 deg,
      new cmd heading: 162.344084 deg.

2025-06-05T17:01:58.169Z,1749142918.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833439 target range: 8.826530 and range: 4.50 m.
2025-06-05T17:01:58.359Z,1749142918.359 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.020110
2025-06-05T17:01:58.512Z,1749142918.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 8.83 m.
2025-06-05T17:01:58.518Z,1749142918.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.826530 m,
      nav range: 2.208768 m,
      bearing: 154.030018 deg,
      approach rate: -0.616113 m/s,
      LOS rate: -1.339532 deg/s,
      cmd heading: 162.344089 deg,
      new cmd heading: 160.932798 deg.

2025-06-05T17:01:58.520Z,1749142918.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.808807 target range: 8.826530 and range: 4.50 m.
2025-06-05T17:01:58.613Z,1749142918.613 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.274020
2025-06-05T17:01:58.879Z,1749142918.879 [DAT](INFO): DAT read: 17:01:56.8192 LVL= 22128, 16081,  9346, 17203, AGC= 42, IDX= 414, 0.14, 2.735,-3.049, 1.690,-2.917, PHS=-0.542,-0.084,-1.678, RAW=  13.8,  29.8, CAL=   8.7,  34.5, ROT= 141.3, -34.5

2025-06-05T17:01:58.880Z,1749142918.880 [DAT](INFO): got valid direction response:
 17:01:56.8192 LVL= 22128, 16081,  9346, 17203, AGC= 42, IDX= 414, 0.14, 2.735,-3.049, 1.690,-2.917, PHS=-0.542,-0.084,-1.678, RAW=  13.8,  29.8, CAL=   8.7,  34.5, ROT= 141.3, -34.5

2025-06-05T17:01:58.881Z,1749142918.881 [DAT](INFO): DAT read: Bearing 141.3, -34.5 (Local)

2025-06-05T17:01:58.881Z,1749142918.881 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.3, -34.5 (Local)

2025-06-05T17:01:58.890Z,1749142918.890 [DAT](INFO): DAT read: Range 10 to 50 : 2.5 m  (Round-trip  3.4 ms) speed  0.4 m/s

2025-06-05T17:01:58.891Z,1749142918.891 [DAT](INFO): DAT read: user:2553>

2025-06-05T17:01:58.892Z,1749142918.892 [DAT](INFO): DAT read: Tx time:17:01:57.9117

2025-06-05T17:01:58.892Z,1749142918.892 [DAT](INFO): Ping request sent.
2025-06-05T17:01:58.892Z,1749142918.892 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:01:58.893Z,1749142918.893 [DAT](INFO): DAT read: TxSync time:17:01:57.9109

2025-06-05T17:01:58.893Z,1749142918.893 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-05T17:01:58.894Z,1749142918.894 [DAT](INFO): direction in FSK: [-0.643173,0.515279,0.566406]
2025-06-05T17:01:58.895Z,1749142918.895 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:58.895Z,1749142918.895 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:58.898Z,1749142918.898 [DAT](INFO): publishing transmit ping time
2025-06-05T17:01:58.898Z,1749142918.898 [DAT](INFO): publishing direction and range info
2025-06-05T17:01:58.936Z,1749142918.936 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.043548
2025-06-05T17:01:59.078Z,1749142919.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.500000 m,
      deltaT: 3.527285 s,
      deltaX: -2.000000 m,
      approachRate: -0.567008 m/s,
      rangeRepo size: 4

2025-06-05T17:01:59.092Z,1749142919.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.479507 m,
      bearing: 313.090296 deg,
      lat: 36.906266 deg,
      lon: -122.115912 deg,
      deltaT: 10.588056 s,
      deltaX: -6.347023 m,
      approachRate: -0.599451 m/s,
      posRepo size: 4

2025-06-05T17:01:59.093Z,1749142919.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.50 m.
2025-06-05T17:01:59.093Z,1749142919.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-05T17:01:59.116Z,1749142919.116 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.223135
2025-06-05T17:01:59.326Z,1749142919.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:01:59.368Z,1749142919.368 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.475597
2025-06-05T17:01:59.621Z,1749142919.621 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.728262
2025-06-05T17:01:59.871Z,1749142919.871 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.979000
2025-06-05T17:02:00.123Z,1749142920.123 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.231257
2025-06-05T17:02:00.375Z,1749142920.375 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.483052
2025-06-05T17:02:00.630Z,1749142920.630 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.736892
2025-06-05T17:02:00.880Z,1749142920.880 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.988281
2025-06-05T17:02:01.131Z,1749142921.131 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.239082
2025-06-05T17:02:01.353Z,1749142921.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:02:01.393Z,1749142921.393 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.500197
2025-06-05T17:02:01.643Z,1749142921.643 [DAT](INFO): DAT read: Rx Time:17:02:00.3180

2025-06-05T17:02:01.644Z,1749142921.644 [DAT](INFO): Rx dataTimestamp_ set to:1749142921.643496
2025-06-05T17:02:01.644Z,1749142921.644 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.752300
2025-06-05T17:02:01.742Z,1749142921.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.50 m.
2025-06-05T17:02:01.742Z,1749142921.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.50 m.
2025-06-05T17:02:01.742Z,1749142921.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-06-05T17:02:01.896Z,1749142921.896 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.003736
2025-06-05T17:02:02.148Z,1749142922.148 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-05T17:02:02.150Z,1749142922.150 [DAT](INFO): DAT read: user:2554>

2025-06-05T17:02:02.151Z,1749142922.151 [DAT](INFO): DAT read: Tx time:17:02:01.4117

2025-06-05T17:02:02.151Z,1749142922.151 [DAT](INFO): Ping request sent.
2025-06-05T17:02:02.151Z,1749142922.151 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:02:02.152Z,1749142922.152 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-06-05T17:02:02.152Z,1749142922.152 [DAT](INFO): publishing transmit ping time
2025-06-05T17:02:02.153Z,1749142922.153 [DAT](INFO): publishing transmit ping time
2025-06-05T17:02:02.153Z,1749142922.153 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.001861
2025-06-05T17:02:02.188Z,1749142922.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.600000 m,
      deltaT: 3.284017 s,
      deltaX: -0.900000 m,
      approachRate: -0.274055 m/s,
      rangeRepo size: 4

2025-06-05T17:02:02.251Z,1749142922.251 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T17:02:02.251Z,1749142922.251 [DockingStepper](INFO): Standby mode.
2025-06-05T17:02:02.306Z,1749142922.306 [DockingStepper](INFO): Commanding positive:54556
2025-06-05T17:02:02.401Z,1749142922.401 [DAT](INFO): DAT read: TxSync time:17:02:01.4109

2025-06-05T17:02:02.402Z,1749142922.402 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.250170
2025-06-05T17:02:02.652Z,1749142922.652 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.500518
2025-06-05T17:02:02.906Z,1749142922.906 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.753686
2025-06-05T17:02:03.155Z,1749142923.155 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.003502
2025-06-05T17:02:03.413Z,1749142923.413 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.260932
2025-06-05T17:02:03.659Z,1749142923.659 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.507454
2025-06-05T17:02:03.771Z,1749142923.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:02:03.912Z,1749142923.912 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.760184
2025-06-05T17:02:04.161Z,1749142924.161 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for bottom velocity. Device response is::BS,    -,   -41,A
2025-06-05T17:02:04.163Z,1749142924.163 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.011908
2025-06-05T17:02:04.415Z,1749142924.415 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.263673
2025-06-05T17:02:04.670Z,1749142924.670 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.517856
2025-06-05T17:02:04.923Z,1749142924.923 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.771257
2025-06-05T17:02:05.171Z,1749142925.171 [DAT](INFO): DAT read: Rx Time:17:02:03.8179

2025-06-05T17:02:05.172Z,1749142925.172 [DAT](INFO): Rx dataTimestamp_ set to:1749142925.171388
2025-06-05T17:02:05.172Z,1749142925.172 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.020707
2025-06-05T17:02:05.423Z,1749142925.423 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.271624
2025-06-05T17:02:05.677Z,1749142925.677 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-05T17:02:05.678Z,1749142925.678 [DAT](INFO): DAT read: user:2555>

2025-06-05T17:02:05.679Z,1749142925.679 [DAT](INFO): DAT read: Tx time:17:02:04.9117

2025-06-05T17:02:05.679Z,1749142925.679 [DAT](INFO): Ping request sent.
2025-06-05T17:02:05.679Z,1749142925.679 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:02:05.679Z,1749142925.679 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-06-05T17:02:05.679Z,1749142925.679 [DAT](INFO): publishing transmit ping time
2025-06-05T17:02:05.680Z,1749142925.680 [DAT](INFO): publishing transmit ping time
2025-06-05T17:02:05.681Z,1749142925.681 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.001868
2025-06-05T17:02:05.930Z,1749142925.930 [DAT](INFO): DAT read: TxSync time:17:02:04.9109

2025-06-05T17:02:05.933Z,1749142925.933 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.253194
2025-06-05T17:02:06.014Z,1749142926.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:02:06.019Z,1749142926.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 3.529040 s,
      deltaX: -0.100000 m,
      approachRate: -0.028336 m/s,
      rangeRepo size: 4

2025-06-05T17:02:06.180Z,1749142926.180 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.500574
2025-06-05T17:02:06.431Z,1749142926.431 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.752407
2025-06-05T17:02:06.683Z,1749142926.683 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.004079
2025-06-05T17:02:06.939Z,1749142926.939 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.259568
2025-06-05T17:02:07.187Z,1749142927.187 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.507940
2025-06-05T17:02:07.439Z,1749142927.439 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.760101
2025-06-05T17:02:07.691Z,1749142927.691 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.012377
2025-06-05T17:02:07.946Z,1749142927.946 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.266553
2025-06-05T17:02:08.061Z,1749142928.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:02:08.197Z,1749142928.197 [DAT](INFO): DAT read: Rx Time:17:02:07.0427 

2025-06-05T17:02:08.198Z,1749142928.198 [DAT](INFO): Rx dataTimestamp_ set to:1749142928.196920
2025-06-05T17:02:08.200Z,1749142928.200 [DAT](INFO): DAT read: Bearing 348.2,  66.4 (Local)

2025-06-05T17:02:08.201Z,1749142928.201 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.2,  66.4 (Local)

2025-06-05T17:02:08.203Z,1749142928.203 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:08.208Z,1749142928.208 [DAT](INFO): DAT read: 17:02:07.0427 LVL= 20016, 21489, 18578, 22579, AGC= 48, IDX= 172,-0.47, 2.835, 2.464, 2.997, 1.270, PHS= 1.653, 1.241, 1.725, RAW= 157.9, -74.5, CAL= 161.8, -66.4, ROT= 348.2,  66.4

2025-06-05T17:02:08.209Z,1749142928.209 [DAT](INFO): got valid direction response:
 17:02:07.0427 LVL= 20016, 21489, 18578, 22579, AGC= 48, IDX= 172,-0.47, 2.835, 2.464, 2.997, 1.270, PHS= 1.653, 1.241, 1.725, RAW= 157.9, -74.5, CAL= 161.8, -66.4, ROT= 348.2,  66.4

2025-06-05T17:02:08.209Z,1749142928.209 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-05T17:02:08.211Z,1749142928.211 [DAT](INFO): direction in FSK: [0.391889,-0.081870,-0.916363]
2025-06-05T17:02:08.211Z,1749142928.211 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:08.223Z,1749142928.223 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.543557
2025-06-05T17:02:08.447Z,1749142928.447 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.768033
2025-06-05T17:02:08.479Z,1749142928.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 2.521282 s,
      deltaX: -0.100000 m,
      approachRate: -0.039662 m/s,
      rangeRepo size: 4

2025-06-05T17:02:08.481Z,1749142928.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.388566 m,
      bearing: 233.795465 deg,
      lat: 36.906266 deg,
      lon: -122.115914 deg,
      deltaT: 9.334339 s,
      deltaX: -1.090941 m,
      approachRate: -0.116874 m/s,
      posRepo size: 4

2025-06-05T17:02:08.484Z,1749142928.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.40 m. Lat: 36.906266 Lon: -122.115914 Cable present.
2025-06-05T17:02:08.484Z,1749142928.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-06-05T17:02:08.484Z,1749142928.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-05T17:02:08.485Z,1749142928.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-06-05T17:02:08.702Z,1749142928.702 [DAT](INFO): DAT read: Rx Time:17:02:07.5428 

2025-06-05T17:02:08.702Z,1749142928.702 [DAT](INFO): Rx dataTimestamp_ set to:1749142928.701748
2025-06-05T17:02:08.703Z,1749142928.703 [DAT](INFO): DAT read: Bearing  25.2,  58.2 (Local)

2025-06-05T17:02:08.704Z,1749142928.704 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.2,  58.2 (Local)

2025-06-05T17:02:08.706Z,1749142928.706 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:08.713Z,1749142928.713 [DAT](INFO): DAT read: 17:02:07.5428 LVL= 22720, 22513, 20354, 25283, AGC= 47, IDX= 508,-0.45,-2.852, 2.826, 3.056, 1.975, PHS= 1.545, 0.898, 1.079, RAW= 105.7, -65.1, CAL= 124.8, -58.2, ROT=  25.2,  58.2

2025-06-05T17:02:08.714Z,1749142928.714 [DAT](INFO): got valid direction response:
 17:02:07.5428 LVL= 22720, 22513, 20354, 25283, AGC= 47, IDX= 508,-0.45,-2.852, 2.826, 3.056, 1.975, PHS= 1.545, 0.898, 1.079, RAW= 105.7, -65.1, CAL= 124.8, -58.2, ROT=  25.2,  58.2

2025-06-05T17:02:08.715Z,1749142928.715 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-05T17:02:08.716Z,1749142928.716 [DAT](INFO): direction in FSK: [0.476804,0.224367,-0.849893]
2025-06-05T17:02:08.716Z,1749142928.716 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:08.720Z,1749142928.720 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.040530
2025-06-05T17:02:08.859Z,1749142928.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-06-05T17:02:08.859Z,1749142928.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-06-05T17:02:08.860Z,1749142928.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-06-05T17:02:08.956Z,1749142928.956 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.276096
2025-06-05T17:02:09.206Z,1749142929.206 [DAT](INFO): DAT read: Rx Time:17:02:08.0427 

2025-06-05T17:02:09.208Z,1749142929.208 [DAT](INFO): Rx dataTimestamp_ set to:1749142929.206644
2025-06-05T17:02:09.210Z,1749142929.210 [DAT](INFO): DAT read: Bearing 341.7,  58.0 (Local)

2025-06-05T17:02:09.210Z,1749142929.210 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.7,  58.0 (Local)

2025-06-05T17:02:09.212Z,1749142929.212 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:09.222Z,1749142929.222 [DAT](INFO): DAT read: 17:02:08.0427 LVL= 21744, 23713, 19810, 24803, AGC= 47, IDX= 507,-0.28, 0.425,-0.054, 0.730,-1.019, PHS= 1.532, 1.011, 1.746, RAW= 166.5, -66.7, CAL= 168.3, -58.0, ROT= 341.7,  58.0

2025-06-05T17:02:09.223Z,1749142929.223 [DAT](INFO): got valid direction response:
 17:02:08.0427 LVL= 21744, 23713, 19810, 24803, AGC= 47, IDX= 507,-0.28, 0.425,-0.054, 0.730,-1.019, PHS= 1.532, 1.011, 1.746, RAW= 166.5, -66.7, CAL= 168.3, -58.0, ROT= 341.7,  58.0

2025-06-05T17:02:09.224Z,1749142929.224 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-05T17:02:09.225Z,1749142929.225 [DAT](INFO): direction in FSK: [0.503119,-0.166390,-0.848048]
2025-06-05T17:02:09.225Z,1749142929.225 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:09.270Z,1749142929.270 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.590951
2025-06-05T17:02:09.455Z,1749142929.455 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.776126
2025-06-05T17:02:09.480Z,1749142929.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-06-05T17:02:09.481Z,1749142929.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T17:02:09.482Z,1749142929.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-05T17:02:09.486Z,1749142929.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T17:02:09.487Z,1749142929.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-05T17:02:09.487Z,1749142929.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-05T17:02:09.487Z,1749142929.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-05T17:02:09.487Z,1749142929.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-05T17:02:09.487Z,1749142929.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-05T17:02:09.487Z,1749142929.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-05T17:02:09.487Z,1749142929.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T17:02:09.696Z,1749142929.696 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-06-05T17:02:09.696Z,1749142929.696 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-05T17:02:09.696Z,1749142929.696 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-05T17:02:09.696Z,1749142929.696 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-05T17:02:09.696Z,1749142929.696 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-06-05T17:02:09.696Z,1749142929.696 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-05T17:02:09.697Z,1749142929.697 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-06-05T17:02:09.697Z,1749142929.697 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-06-05T17:02:09.697Z,1749142929.697 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-06-05T17:02:09.702Z,1749142929.702 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-06-05T17:02:09.703Z,1749142929.703 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-05T17:02:09.703Z,1749142929.703 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-06-05T17:02:09.703Z,1749142929.703 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-05T17:02:09.703Z,1749142929.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-05T17:02:09.703Z,1749142929.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T17:02:09.703Z,1749142929.703 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-06-05T17:02:09.703Z,1749142929.703 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-06-05T17:02:09.712Z,1749142929.712 [DAT](INFO): DAT read: Rx Time:17:02:08.5428 

2025-06-05T17:02:09.712Z,1749142929.712 [DAT](INFO): Rx dataTimestamp_ set to:1749142929.712070
2025-06-05T17:02:09.714Z,1749142929.714 [DAT](INFO): DAT read: Bearing 334.9,  57.2 (Local)

2025-06-05T17:02:09.714Z,1749142929.714 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.9,  57.2 (Local)

2025-06-05T17:02:09.718Z,1749142929.718 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:09.731Z,1749142929.731 [DAT](INFO): DAT read: 17:02:08.5428 LVL= 21360, 19953, 18290, 23667, AGC= 46, IDX= 508,-0.23, 1.407, 0.996, 1.860, 0.050, PHS= 1.445, 0.993, 1.807, RAW= 176.4, -64.8, CAL= 175.1, -57.2, ROT= 334.9,  57.2

2025-06-05T17:02:09.732Z,1749142929.732 [DAT](INFO): got valid direction response:
 17:02:08.5428 LVL= 21360, 19953, 18290, 23667, AGC= 46, IDX= 508,-0.23, 1.407, 0.996, 1.860, 0.050, PHS= 1.445, 0.993, 1.807, RAW= 176.4, -64.8, CAL= 175.1, -57.2, ROT= 334.9,  57.2

2025-06-05T17:02:09.732Z,1749142929.732 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-05T17:02:09.733Z,1749142929.733 [DAT](INFO): direction in FSK: [0.490554,-0.229792,-0.840567]
2025-06-05T17:02:09.734Z,1749142929.734 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:09.755Z,1749142929.755 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=4.074490
2025-06-05T17:02:09.964Z,1749142929.964 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=4.284817
2025-06-05T17:02:10.188Z,1749142930.188 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-06-05T17:02:10.188Z,1749142930.188 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-06-05T17:02:10.212Z,1749142930.212 [DAT](INFO): DAT read: Rx Time:17:02:09.0427 

2025-06-05T17:02:10.212Z,1749142930.212 [DAT](INFO): Rx dataTimestamp_ set to:1749142930.211939
2025-06-05T17:02:10.213Z,1749142930.213 [DAT](INFO): DAT read: Bearing 334.4,  57.2 (Local)

2025-06-05T17:02:10.214Z,1749142930.214 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.4,  57.2 (Local)

2025-06-05T17:02:10.217Z,1749142930.217 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:10.222Z,1749142930.222 [DAT](INFO): DAT read: 17:02:09.0427 LVL= 20928, 20817, 17906, 24371, AGC= 46, IDX= 507,-0.18, 0.092,-0.302, 0.547,-1.233, PHS= 1.414, 0.978, 1.777, RAW= 177.0, -64.8, CAL= 175.6, -57.2, ROT= 334.4,  57.2

2025-06-05T17:02:10.223Z,1749142930.223 [DAT](INFO): got valid direction response:
 17:02:09.0427 LVL= 20928, 20817, 17906, 24371, AGC= 46, IDX= 507,-0.18, 0.092,-0.302, 0.547,-1.233, PHS= 1.414, 0.978, 1.777, RAW= 177.0, -64.8, CAL= 175.6, -57.2, ROT= 334.4,  57.2

2025-06-05T17:02:10.224Z,1749142930.224 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-05T17:02:10.225Z,1749142930.225 [DAT](INFO): direction in FSK: [0.488530,-0.234064,-0.840567]
2025-06-05T17:02:10.225Z,1749142930.225 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:10.237Z,1749142930.237 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=4.557613
2025-06-05T17:02:10.463Z,1749142930.463 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=4.784242
2025-06-05T17:02:10.514Z,1749142930.514 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-06-05T17:02:10.514Z,1749142930.514 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-05T17:02:10.514Z,1749142930.514 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-06-05T17:02:10.716Z,1749142930.716 [DAT](INFO): DAT read: Rx Time:17:02:09.5427 

2025-06-05T17:02:10.717Z,1749142930.717 [DAT](INFO): Rx dataTimestamp_ set to:1749142930.716369
2025-06-05T17:02:10.719Z,1749142930.719 [DAT](INFO): DAT read: Bearing 353.4,  57.4 (Local)

2025-06-05T17:02:10.719Z,1749142930.719 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.4,  57.4 (Local)

2025-06-05T17:02:10.721Z,1749142930.721 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:10.726Z,1749142930.726 [DAT](INFO): DAT read: 17:02:09.5427 LVL= 18768, 20081, 16594, 21619, AGC= 46, IDX= 507,-0.13, 0.644, 0.105, 0.735,-0.668, PHS= 1.401, 0.821, 1.400, RAW= 149.9, -65.6, CAL= 156.6, -57.4, ROT= 353.4,  57.4

2025-06-05T17:02:10.732Z,1749142930.732 [DAT](INFO): got valid direction response:
 17:02:09.5427 LVL= 18768, 20081, 16594, 21619, AGC= 46, IDX= 507,-0.13, 0.644, 0.105, 0.735,-0.668, PHS= 1.401, 0.821, 1.400, RAW= 149.9, -65.6, CAL= 156.6, -57.4, ROT= 353.4,  57.4

2025-06-05T17:02:10.733Z,1749142930.733 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-05T17:02:10.749Z,1749142930.749 [DAT](INFO): direction in FSK: [0.535200,-0.061925,-0.842452]
2025-06-05T17:02:10.749Z,1749142930.749 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:10.765Z,1749142930.765 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=5.085479
2025-06-05T17:02:10.970Z,1749142930.970 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=5.290720
2025-06-05T17:02:11.220Z,1749142931.220 [DAT](INFO): DAT read: Rx Time:17:02:10.0426 

2025-06-05T17:02:11.220Z,1749142931.220 [DAT](INFO): Rx dataTimestamp_ set to:1749142931.219961
2025-06-05T17:02:11.221Z,1749142931.221 [DAT](INFO): DAT read: Bearing 347.8,  58.6 (Local)

2025-06-05T17:02:11.222Z,1749142931.222 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.8,  58.6 (Local)

2025-06-05T17:02:11.224Z,1749142931.224 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:11.228Z,1749142931.228 [DAT](INFO): DAT read: 17:02:10.0426 LVL= 21104, 21201, 18034, 23187, AGC= 46, IDX= 506,-0.09,-0.572,-1.066,-0.392,-1.981, PHS= 1.497, 0.963, 1.586, RAW= 157.6, -67.8, CAL= 162.2, -58.6, ROT= 347.8,  58.6

2025-06-05T17:02:11.229Z,1749142931.229 [DAT](INFO): got valid direction response:
 17:02:10.0426 LVL= 21104, 21201, 18034, 23187, AGC= 46, IDX= 506,-0.09,-0.572,-1.066,-0.392,-1.981, PHS= 1.497, 0.963, 1.586, RAW= 157.6, -67.8, CAL= 162.2, -58.6, ROT= 347.8,  58.6

2025-06-05T17:02:11.230Z,1749142931.230 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-05T17:02:11.232Z,1749142931.232 [DAT](INFO): direction in FSK: [0.509243,-0.110102,-0.853551]
2025-06-05T17:02:11.233Z,1749142931.233 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:11.237Z,1749142931.237 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=5.557680
2025-06-05T17:02:11.471Z,1749142931.471 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=5.792233
2025-06-05T17:02:11.720Z,1749142931.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:02:11.724Z,1749142931.724 [DAT](INFO): DAT read: Rx Time:17:02:10.5427 

2025-06-05T17:02:11.724Z,1749142931.724 [DAT](INFO): Rx dataTimestamp_ set to:1749142931.724178
2025-06-05T17:02:11.726Z,1749142931.726 [DAT](INFO): DAT read: Bearing 340.2,  57.9 (Local)

2025-06-05T17:02:11.726Z,1749142931.726 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.2,  57.9 (Local)

2025-06-05T17:02:11.728Z,1749142931.728 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:11.735Z,1749142931.735 [DAT](INFO): DAT read: 17:02:10.5427 LVL= 19440, 21185, 21682, 24035, AGC= 46, IDX= 507,-0.05, 0.603, 0.133, 0.940,-0.837, PHS= 1.528, 1.018, 1.775, RAW= 168.6, -66.4, CAL= 169.8, -57.9, ROT= 340.2,  57.9

2025-06-05T17:02:11.736Z,1749142931.736 [DAT](INFO): got valid direction response:
 17:02:10.5427 LVL= 19440, 21185, 21682, 24035, AGC= 46, IDX= 507,-0.05, 0.603, 0.133, 0.940,-0.837, PHS= 1.528, 1.018, 1.775, RAW= 168.6, -66.4, CAL= 169.8, -57.9, ROT= 340.2,  57.9

2025-06-05T17:02:11.736Z,1749142931.736 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-05T17:02:11.737Z,1749142931.737 [DAT](INFO): direction in FSK: [0.499983,-0.180005,-0.847122]
2025-06-05T17:02:11.737Z,1749142931.737 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:11.757Z,1749142931.757 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=6.077823
2025-06-05T17:02:11.978Z,1749142931.978 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=6.298557
2025-06-05T17:02:12.228Z,1749142932.228 [DAT](INFO): DAT read: Rx Time:17:02:11.0426 

2025-06-05T17:02:12.228Z,1749142932.228 [DAT](INFO): Rx dataTimestamp_ set to:1749142932.227965
2025-06-05T17:02:12.230Z,1749142932.230 [DAT](INFO): DAT read: Bearing 356.7,  58.9 (Local)

2025-06-05T17:02:12.230Z,1749142932.230 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.7,  58.9 (Local)

2025-06-05T17:02:12.233Z,1749142932.233 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:12.238Z,1749142932.238 [DAT](INFO): DAT read: 17:02:11.0426 LVL= 20160, 21489, 19314, 22835, AGC= 46, IDX= 506,-0.01, 0.066,-0.493, 0.096,-1.417, PHS= 1.570, 0.970, 1.509, RAW= 144.7, -68.2, CAL= 153.3, -58.9, ROT= 356.7,  58.9

2025-06-05T17:02:12.239Z,1749142932.239 [DAT](INFO): got valid direction response:
 17:02:11.0426 LVL= 20160, 21489, 19314, 22835, AGC= 46, IDX= 506,-0.01, 0.066,-0.493, 0.096,-1.417, PHS= 1.570, 0.970, 1.509, RAW= 144.7, -68.2, CAL= 153.3, -58.9, ROT= 356.7,  58.9

2025-06-05T17:02:12.239Z,1749142932.239 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-05T17:02:12.240Z,1749142932.240 [DAT](INFO): direction in FSK: [0.515677,-0.029734,-0.856267]
2025-06-05T17:02:12.241Z,1749142932.241 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:12.253Z,1749142932.253 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=6.573525
2025-06-05T17:02:12.479Z,1749142932.479 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=6.800106
2025-06-05T17:02:12.732Z,1749142932.732 [DAT](INFO): DAT read: Rx Time:17:02:11.5427 

2025-06-05T17:02:12.733Z,1749142932.733 [DAT](INFO): Rx dataTimestamp_ set to:1749142932.732327
2025-06-05T17:02:12.736Z,1749142932.736 [DAT](INFO): DAT read: Bearing   3.4,  62.0 (Local)

2025-06-05T17:02:12.736Z,1749142932.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.4,  62.0 (Local)

2025-06-05T17:02:12.738Z,1749142932.738 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:12.743Z,1749142932.743 [DAT](INFO): DAT read: 17:02:11.5427 LVL= 18192, 20913, 20818, 21587, AGC= 45, IDX= 507, 0.03, 1.905, 1.407, 1.855, 0.430, PHS= 1.563, 1.023, 1.421, RAW= 135.4, -71.1, CAL= 146.6, -62.0, ROT=   3.4,  62.0

2025-06-05T17:02:12.744Z,1749142932.744 [DAT](INFO): got valid direction response:
 17:02:11.5427 LVL= 18192, 20913, 20818, 21587, AGC= 45, IDX= 507, 0.03, 1.905, 1.407, 1.855, 0.430, PHS= 1.563, 1.023, 1.421, RAW= 135.4, -71.1, CAL= 146.6, -62.0, ROT=   3.4,  62.0

2025-06-05T17:02:12.744Z,1749142932.744 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-05T17:02:12.745Z,1749142932.745 [DAT](INFO): direction in FSK: [0.468645,0.027843,-0.882948]
2025-06-05T17:02:12.745Z,1749142932.745 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:12.751Z,1749142932.751 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.070808
2025-06-05T17:02:12.984Z,1749142932.984 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.305004
2025-06-05T17:02:13.236Z,1749142933.236 [DAT](INFO): DAT read: Rx Time:17:02:12.0426 

2025-06-05T17:02:13.236Z,1749142933.236 [DAT](INFO): Rx dataTimestamp_ set to:1749142933.235911
2025-06-05T17:02:13.237Z,1749142933.237 [DAT](INFO): DAT read: Bearing  19.2,  58.3 (Local)

2025-06-05T17:02:13.238Z,1749142933.238 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.2,  58.3 (Local)

2025-06-05T17:02:13.240Z,1749142933.240 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:13.244Z,1749142933.244 [DAT](INFO): DAT read: 17:02:12.0426 LVL= 16880, 18625, 16210, 21987, AGC= 45, IDX= 506, 0.08, 0.644, 0.027, 0.343,-0.822, PHS= 1.554, 0.896, 1.162, RAW= 113.6, -65.8, CAL= 130.8, -58.3, ROT=  19.2,  58.3

2025-06-05T17:02:13.245Z,1749142933.245 [DAT](INFO): got valid direction response:
 17:02:12.0426 LVL= 16880, 18625, 16210, 21987, AGC= 45, IDX= 506, 0.08, 0.644, 0.027, 0.343,-0.822, PHS= 1.554, 0.896, 1.162, RAW= 113.6, -65.8, CAL= 130.8, -58.3, ROT=  19.2,  58.3

2025-06-05T17:02:13.246Z,1749142933.246 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-05T17:02:13.251Z,1749142933.251 [DAT](INFO): direction in FSK: [0.496243,0.172810,-0.850811]
2025-06-05T17:02:13.252Z,1749142933.252 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:13.268Z,1749142933.268 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.588475
2025-06-05T17:02:13.445Z,1749142933.445 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-06-05T17:02:13.445Z,1749142933.445 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-06-05T17:02:13.445Z,1749142933.445 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T17:02:13.445Z,1749142933.445 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-06-05T17:02:13.488Z,1749142933.488 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.809051
2025-06-05T17:02:13.740Z,1749142933.740 [DAT](INFO): DAT read: Rx Time:17:02:12.5427 

2025-06-05T17:02:13.740Z,1749142933.740 [DAT](INFO): Rx dataTimestamp_ set to:1749142933.739726
2025-06-05T17:02:13.741Z,1749142933.741 [DAT](INFO): DAT read: Bearing  19.4,  59.7 (Local)

2025-06-05T17:02:13.742Z,1749142933.742 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.4,  59.7 (Local)

2025-06-05T17:02:13.744Z,1749142933.744 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:13.748Z,1749142933.748 [DAT](INFO): DAT read: 17:02:12.5427 LVL= 18592, 20593, 18706, 21667, AGC= 45, IDX= 507, 0.10, 2.449, 1.878, 2.164, 0.970, PHS= 1.567, 0.955, 1.191, RAW= 112.5, -67.9, CAL= 130.6, -59.7, ROT=  19.4,  59.7

2025-06-05T17:02:13.751Z,1749142933.751 [DAT](INFO): got valid direction response:
 17:02:12.5427 LVL= 18592, 20593, 18706, 21667, AGC= 45, IDX= 507, 0.10, 2.449, 1.878, 2.164, 0.970, PHS= 1.567, 0.955, 1.191, RAW= 112.5, -67.9, CAL= 130.6, -59.7, ROT=  19.4,  59.7

2025-06-05T17:02:13.751Z,1749142933.751 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-05T17:02:13.752Z,1749142933.752 [DAT](INFO): direction in FSK: [0.475882,0.167584,-0.863396]
2025-06-05T17:02:13.752Z,1749142933.752 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:13.756Z,1749142933.756 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.077143
2025-06-05T17:02:13.833Z,1749142933.833 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-06-05T17:02:13.833Z,1749142933.833 [lineCaptureHoming:LineCapture:M] Stopped
2025-06-05T17:02:13.844Z,1749142933.844 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-06-05T17:02:13.844Z,1749142933.844 [lineCaptureHoming:LineCapture] Stopped
2025-06-05T17:02:13.844Z,1749142933.844 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-06-05T17:02:13.844Z,1749142933.844 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-06-05T17:02:13.844Z,1749142933.844 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-05T17:02:13.844Z,1749142933.844 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T17:02:13.844Z,1749142933.844 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T17:02:13.845Z,1749142933.845 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T17:02:13.845Z,1749142933.845 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T17:02:13.845Z,1749142933.845 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T17:02:13.845Z,1749142933.845 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T17:02:13.845Z,1749142933.845 [lineCaptureHoming:LineCapture:G] Stopped
2025-06-05T17:02:13.845Z,1749142933.845 [lineCaptureHoming:LineCapture:H] Stopped
2025-06-05T17:02:13.845Z,1749142933.845 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-06-05T17:02:13.845Z,1749142933.845 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-06-05T17:02:13.845Z,1749142933.845 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-06-05T17:02:13.845Z,1749142933.845 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-06-05T17:02:13.845Z,1749142933.845 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-06-05T17:02:13.845Z,1749142933.845 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-06-05T17:02:13.845Z,1749142933.845 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-05T17:02:13.845Z,1749142933.845 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-06-05T17:02:13.846Z,1749142933.846 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T17:02:13.994Z,1749142933.994 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.314741
2025-06-05T17:02:14.220Z,1749142934.220 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-06-05T17:02:14.220Z,1749142934.220 [lineCaptureHoming:Lap:B] Stopped
2025-06-05T17:02:14.220Z,1749142934.220 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-06-05T17:02:14.220Z,1749142934.220 [lineCaptureHoming:Lap:C] Running Loop=1
2025-06-05T17:02:14.221Z,1749142934.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:02:14.244Z,1749142934.244 [DAT](INFO): DAT read: Rx Time:17:02:13.0426 

2025-06-05T17:02:14.244Z,1749142934.244 [DAT](INFO): Rx dataTimestamp_ set to:1749142934.243870
2025-06-05T17:02:14.246Z,1749142934.246 [DAT](INFO): DAT read: Bearing  25.6,  58.5 (Local)

2025-06-05T17:02:14.247Z,1749142934.247 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.6,  58.5 (Local)

2025-06-05T17:02:14.250Z,1749142934.250 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:14.261Z,1749142934.261 [DAT](INFO): DAT read: 17:02:13.0426 LVL= 17424, 19409, 16882, 21779, AGC= 45, IDX= 506, 0.14, 1.142, 0.520, 0.748,-0.378, PHS= 1.608, 0.945, 1.123, RAW= 105.0, -65.4, CAL= 124.4, -58.5, ROT=  25.6,  58.5

2025-06-05T17:02:14.262Z,1749142934.262 [DAT](INFO): got valid direction response:
 17:02:13.0426 LVL= 17424, 19409, 16882, 21779, AGC= 45, IDX= 506, 0.14, 1.142, 0.520, 0.748,-0.378, PHS= 1.608, 0.945, 1.123, RAW= 105.0, -65.4, CAL= 124.4, -58.5, ROT=  25.6,  58.5

2025-06-05T17:02:14.263Z,1749142934.263 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-05T17:02:14.264Z,1749142934.264 [DAT](INFO): direction in FSK: [0.471206,0.225764,-0.852640]
2025-06-05T17:02:14.265Z,1749142934.265 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:14.276Z,1749142934.276 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.596637
2025-06-05T17:02:14.495Z,1749142934.495 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.816021
2025-06-05T17:02:14.578Z,1749142934.578 [lineCaptureHoming:Lap:C] Stopped
2025-06-05T17:02:14.578Z,1749142934.578 [lineCaptureHoming:Lap:D] Running Loop=1
2025-06-05T17:02:14.748Z,1749142934.748 [DAT](INFO): DAT read: Rx Time:17:02:13.5427 

2025-06-05T17:02:14.748Z,1749142934.748 [DAT](INFO): Rx dataTimestamp_ set to:1749142934.747846
2025-06-05T17:02:14.751Z,1749142934.751 [DAT](INFO): DAT read: Bearing  27.0,  58.5 (Local)

2025-06-05T17:02:14.751Z,1749142934.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.0,  58.5 (Local)

2025-06-05T17:02:14.753Z,1749142934.753 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:14.758Z,1749142934.758 [DAT](INFO): DAT read: 17:02:13.5427 LVL= 19392, 21137, 19618, 20515, AGC= 46, IDX= 506, 0.16, 1.666, 1.021, 1.236, 0.081, PHS= 1.673, 0.987, 1.151, RAW= 103.3, -65.3, CAL= 123.0, -58.5, ROT=  27.0,  58.5

2025-06-05T17:02:14.759Z,1749142934.759 [DAT](INFO): got valid direction response:
 17:02:13.5427 LVL= 19392, 21137, 19618, 20515, AGC= 46, IDX= 506, 0.16, 1.666, 1.021, 1.236, 0.081, PHS= 1.673, 0.987, 1.151, RAW= 103.3, -65.3, CAL= 123.0, -58.5, ROT=  27.0,  58.5

2025-06-05T17:02:14.759Z,1749142934.759 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-06-05T17:02:14.760Z,1749142934.760 [DAT](INFO): direction in FSK: [0.465550,0.237209,-0.852640]
2025-06-05T17:02:14.760Z,1749142934.760 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:14.764Z,1749142934.764 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.085208
2025-06-05T17:02:14.966Z,1749142934.966 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-06-05T17:02:14.966Z,1749142934.966 [lineCaptureHoming:Lap:D] Stopped
2025-06-05T17:02:14.966Z,1749142934.966 [lineCaptureHoming:Lap:E] Running Loop=1
2025-06-05T17:02:14.970Z,1749142934.970 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-06-05T17:02:15.001Z,1749142935.001 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.321759
2025-06-05T17:02:15.252Z,1749142935.252 [DAT](INFO): DAT read: Rx Time:17:02:14.0426 

2025-06-05T17:02:15.253Z,1749142935.253 [DAT](INFO): Rx dataTimestamp_ set to:1749142935.252279
2025-06-05T17:02:15.254Z,1749142935.254 [DAT](INFO): DAT read: Bearing  21.1,  60.0 (Local)

2025-06-05T17:02:15.254Z,1749142935.254 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.1,  60.0 (Local)

2025-06-05T17:02:15.256Z,1749142935.256 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:15.261Z,1749142935.261 [DAT](INFO): DAT read: 17:02:14.0426 LVL= 19392, 21409, 23634, 20691, AGC= 46, IDX= 505, 0.19, 0.580,-0.029, 0.248,-1.028, PHS= 1.696, 1.046, 1.272, RAW= 110.1, -68.1, CAL= 128.9, -60.0, ROT=  21.1,  60.0

2025-06-05T17:02:15.262Z,1749142935.262 [DAT](INFO): got valid direction response:
 17:02:14.0426 LVL= 19392, 21409, 23634, 20691, AGC= 46, IDX= 505, 0.19, 0.580,-0.029, 0.248,-1.028, PHS= 1.696, 1.046, 1.272, RAW= 110.1, -68.1, CAL= 128.9, -60.0, ROT=  21.1,  60.0

2025-06-05T17:02:15.263Z,1749142935.263 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-06-05T17:02:15.263Z,1749142935.263 [DAT](INFO): direction in FSK: [0.466477,0.179998,-0.866025]
2025-06-05T17:02:15.264Z,1749142935.264 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:15.269Z,1749142935.269 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=9.589646
2025-06-05T17:02:15.426Z,1749142935.426 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-06-05T17:02:15.430Z,1749142935.430 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-06-05T17:02:15.431Z,1749142935.431 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-06-05T17:02:15.431Z,1749142935.431 [lineCaptureHoming:restartDHCP:A](IMPORTANT): Restarting DHCP...
2025-06-05T17:02:15.431Z,1749142935.431 [lineCaptureHoming:restartDHCP:A] Stopped
2025-06-05T17:02:15.431Z,1749142935.431 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-06-05T17:02:15.505Z,1749142935.505 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=9.825591
2025-06-05T17:02:15.756Z,1749142935.756 [DAT](INFO): DAT read: Rx Time:17:02:14.5427 

2025-06-05T17:02:15.756Z,1749142935.756 [DAT](INFO): Rx dataTimestamp_ set to:1749142935.756068
2025-06-05T17:02:15.758Z,1749142935.758 [DAT](INFO): DAT read: Bearing  24.9,  59.6 (Local)

2025-06-05T17:02:15.758Z,1749142935.758 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.9,  59.6 (Local)

2025-06-05T17:02:15.760Z,1749142935.760 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:15.765Z,1749142935.765 [DAT](INFO): DAT read: 17:02:14.5427 LVL= 17888, 18641, 21458, 18499, AGC= 45, IDX= 506, 0.20, 2.280, 1.676, 1.903, 0.715, PHS= 1.653, 1.008, 1.185, RAW= 105.4, -67.0, CAL= 125.1, -59.6, ROT=  24.9,  59.6

2025-06-05T17:02:15.767Z,1749142935.767 [DAT](INFO): got valid direction response:
 17:02:14.5427 LVL= 17888, 18641, 21458, 18499, AGC= 45, IDX= 506, 0.20, 2.280, 1.676, 1.903, 0.715, PHS= 1.653, 1.008, 1.185, RAW= 105.4, -67.0, CAL= 125.1, -59.6, ROT=  24.9,  59.6

2025-06-05T17:02:15.768Z,1749142935.768 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-06-05T17:02:15.769Z,1749142935.769 [DAT](INFO): direction in FSK: [0.458995,0.213058,-0.862514]
2025-06-05T17:02:15.769Z,1749142935.769 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:15.781Z,1749142935.781 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=10.101583
2025-06-05T17:02:15.781Z,1749142935.781 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-05T17:02:15.781Z,1749142935.781 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-06-05T17:02:15.782Z,1749142935.782 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-06-05T17:02:15.782Z,1749142935.782 [lineCaptureHoming:restartDHCP] Stopped
2025-06-05T17:02:15.786Z,1749142935.786 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-06-05T17:02:15.844Z,1749142935.844 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-05T17:02:16.012Z,1749142936.012 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=10.331774
2025-06-05T17:02:16.260Z,1749142936.260 [DAT](INFO): DAT read: Rx Time:17:02:15.0426 

2025-06-05T17:02:16.260Z,1749142936.260 [DAT](INFO): Rx dataTimestamp_ set to:1749142936.260000
2025-06-05T17:02:16.262Z,1749142936.262 [DAT](INFO): DAT read: Bearing  31.6,  58.3 (Local)

2025-06-05T17:02:16.262Z,1749142936.262 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.6,  58.3 (Local)

2025-06-05T17:02:16.264Z,1749142936.264 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:16.271Z,1749142936.271 [DAT](INFO): DAT read: 17:02:15.0426 LVL= 19728, 21297, 22178, 21187, AGC= 46, IDX= 505, 0.26, 1.056, 0.407, 0.554,-0.550, PHS= 1.694, 1.004, 1.101, RAW=  97.5, -64.3, CAL= 118.4, -58.3, ROT=  31.6,  58.3

2025-06-05T17:02:16.272Z,1749142936.272 [DAT](INFO): got valid direction response:
 17:02:15.0426 LVL= 19728, 21297, 22178, 21187, AGC= 46, IDX= 505, 0.26, 1.056, 0.407, 0.554,-0.550, PHS= 1.694, 1.004, 1.101, RAW=  97.5, -64.3, CAL= 118.4, -58.3, ROT=  31.6,  58.3

2025-06-05T17:02:16.273Z,1749142936.273 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-06-05T17:02:16.274Z,1749142936.274 [DAT](INFO): direction in FSK: [0.447558,0.275340,-0.850811]
2025-06-05T17:02:16.274Z,1749142936.274 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:16.280Z,1749142936.280 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=10.600903
2025-06-05T17:02:16.337Z,1749142936.337 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-06-05T17:02:16.338Z,1749142936.338 [lineCaptureHoming:Lap:E] Stopped
2025-06-05T17:02:16.338Z,1749142936.338 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-06-05T17:02:16.350Z,1749142936.350 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-06-05T17:02:16.351Z,1749142936.351 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-06-05T17:02:16.351Z,1749142936.351 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-06-05T17:02:16.512Z,1749142936.512 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=10.832433
2025-06-05T17:02:16.601Z,1749142936.601 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  13.000000 min 
2025-06-05T17:02:16.601Z,1749142936.601 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-06-05T17:02:16.601Z,1749142936.601 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-06-05T17:02:16.602Z,1749142936.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:02:16.764Z,1749142936.764 [DAT](INFO): DAT read: Rx Time:17:02:15.5427 

2025-06-05T17:02:16.764Z,1749142936.764 [DAT](INFO): Rx dataTimestamp_ set to:1749142936.763772
2025-06-05T17:02:16.766Z,1749142936.766 [DAT](INFO): DAT read: Bearing  39.7,  53.7 (Local)

2025-06-05T17:02:16.767Z,1749142936.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.7,  53.7 (Local)

2025-06-05T17:02:16.769Z,1749142936.769 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:16.773Z,1749142936.773 [DAT](INFO): DAT read: 17:02:15.5427 LVL= 21488, 23105, 20690, 24051, AGC= 47, IDX= 506, 0.32, 2.085, 1.330, 1.373, 0.484, PHS= 1.689, 0.893, 0.886, RAW=  89.6, -56.9, CAL= 110.3, -53.7, ROT=  39.7,  53.7

2025-06-05T17:02:16.774Z,1749142936.774 [DAT](INFO): got valid direction response:
 17:02:15.5427 LVL= 21488, 23105, 20690, 24051, AGC= 47, IDX= 506, 0.32, 2.085, 1.330, 1.373, 0.484, PHS= 1.689, 0.893, 0.886, RAW=  89.6, -56.9, CAL= 110.3, -53.7, ROT=  39.7,  53.7

2025-06-05T17:02:16.775Z,1749142936.775 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-06-05T17:02:16.776Z,1749142936.776 [DAT](INFO): direction in FSK: [0.455495,0.378159,-0.805928]
2025-06-05T17:02:16.776Z,1749142936.776 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:16.785Z,1749142936.785 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=11.105416
2025-06-05T17:02:16.980Z,1749142936.980 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-06-05T17:02:16.980Z,1749142936.980 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-06-05T17:02:17.018Z,1749142937.018 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=11.338120
2025-06-05T17:02:17.268Z,1749142937.268 [DAT](INFO): DAT read: Rx Time:17:02:16.0427 

2025-06-05T17:02:17.269Z,1749142937.269 [DAT](INFO): Rx dataTimestamp_ set to:1749142937.268676
2025-06-05T17:02:17.270Z,1749142937.270 [DAT](INFO): DAT read: Bearing  37.9,  57.2 (Local)

2025-06-05T17:02:17.271Z,1749142937.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.9,  57.2 (Local)

2025-06-05T17:02:17.273Z,1749142937.273 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:17.277Z,1749142937.277 [DAT](INFO): DAT read: 17:02:16.0427 LVL= 20016, 20289, 22898, 22259, AGC= 46, IDX= 505, 0.37, 1.430, 0.764, 0.817,-0.192, PHS= 1.710, 1.003, 1.006, RAW=  90.2, -61.8, CAL= 112.1, -57.2, ROT=  37.9,  57.2

2025-06-05T17:02:17.278Z,1749142937.278 [DAT](INFO): got valid direction response:
 17:02:16.0427 LVL= 20016, 20289, 22898, 22259, AGC= 46, IDX= 505, 0.37, 1.430, 0.764, 0.817,-0.192, PHS= 1.710, 1.003, 1.006, RAW=  90.2, -61.8, CAL= 112.1, -57.2, ROT=  37.9,  57.2

2025-06-05T17:02:17.279Z,1749142937.279 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-06-05T17:02:17.280Z,1749142937.280 [DAT](INFO): direction in FSK: [0.427453,0.332763,-0.840567]
2025-06-05T17:02:17.280Z,1749142937.280 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:17.301Z,1749142937.301 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=11.621752
2025-06-05T17:02:17.339Z,1749142937.339 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:02:17.447Z,1749142937.447 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-06-05T17:02:17.447Z,1749142937.447 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-06-05T17:02:17.447Z,1749142937.447 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-06-05T17:02:17.447Z,1749142937.447 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-06-05T17:02:17.521Z,1749142937.521 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=11.841151
2025-06-05T17:02:17.772Z,1749142937.772 [DAT](INFO): DAT read: Rx Time:17:02:16.5428 

2025-06-05T17:02:17.772Z,1749142937.772 [DAT](INFO): Rx dataTimestamp_ set to:1749142937.772031
2025-06-05T17:02:17.774Z,1749142937.774 [DAT](INFO): DAT read: Bearing  36.8,  56.2 (Local)

2025-06-05T17:02:17.774Z,1749142937.774 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.8,  56.2 (Local)

2025-06-05T17:02:17.776Z,1749142937.776 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:17.786Z,1749142937.786 [DAT](INFO): DAT read: 17:02:16.5428 LVL= 19696, 20721, 20498, 22851, AGC= 46, IDX= 506, 0.43, 2.475, 1.778, 1.857, 0.865, PHS= 1.697, 0.960, 0.989, RAW=  92.0, -60.7, CAL= 113.2, -56.2, ROT=  36.8,  56.2

2025-06-05T17:02:17.787Z,1749142937.787 [DAT](INFO): got valid direction response:
 17:02:16.5428 LVL= 19696, 20721, 20498, 22851, AGC= 46, IDX= 506, 0.43, 2.475, 1.778, 1.857, 0.865, PHS= 1.697, 0.960, 0.989, RAW=  92.0, -60.7, CAL= 113.2, -56.2, ROT=  36.8,  56.2

2025-06-05T17:02:17.787Z,1749142937.787 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-06-05T17:02:17.788Z,1749142937.788 [DAT](INFO): direction in FSK: [0.445443,0.333234,-0.830984]
2025-06-05T17:02:17.789Z,1749142937.789 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:17.809Z,1749142937.809 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=12.129518
2025-06-05T17:02:17.834Z,1749142937.834 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-06-05T17:02:17.847Z,1749142937.847 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Found local IP address 10.89.10.2 for eth0
2025-06-05T17:02:17.847Z,1749142937.847 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): No IP address on dock subnet, restarting DHCP
2025-06-05T17:02:17.939Z,1749142937.939 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-05T17:02:18.025Z,1749142938.025 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=12.345331
2025-06-05T17:02:18.276Z,1749142938.276 [DAT](INFO): DAT read: Rx Time:17:02:17.0427 

2025-06-05T17:02:18.276Z,1749142938.276 [DAT](INFO): Rx dataTimestamp_ set to:1749142938.275970
2025-06-05T17:02:18.278Z,1749142938.278 [DAT](INFO): DAT read: Bearing  29.3,  61.6 (Local)

2025-06-05T17:02:18.278Z,1749142938.278 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.3,  61.6 (Local)

2025-06-05T17:02:18.280Z,1749142938.280 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:18.286Z,1749142938.286 [DAT](INFO): DAT read: 17:02:17.0427 LVL= 20288, 21873, 25522, 23027, AGC= 46, IDX= 505, 0.49, 1.151, 0.579, 0.750,-0.455, PHS= 1.693, 1.081, 1.202, RAW= 100.7, -68.2, CAL= 120.7, -61.6, ROT=  29.3,  61.6

2025-06-05T17:02:18.288Z,1749142938.288 [DAT](INFO): got valid direction response:
 17:02:17.0427 LVL= 20288, 21873, 25522, 23027, AGC= 46, IDX= 505, 0.49, 1.151, 0.579, 0.750,-0.455, PHS= 1.693, 1.081, 1.202, RAW= 100.7, -68.2, CAL= 120.7, -61.6, ROT=  29.3,  61.6

2025-06-05T17:02:18.288Z,1749142938.288 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-06-05T17:02:18.289Z,1749142938.289 [DAT](INFO): direction in FSK: [0.414777,0.232762,-0.879649]
2025-06-05T17:02:18.289Z,1749142938.289 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:18.312Z,1749142938.312 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=12.633158
2025-06-05T17:02:18.343Z,1749142938.343 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:02:18.528Z,1749142938.528 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=12.849150
2025-06-05T17:02:18.529Z,1749142938.529 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T17:02:18.780Z,1749142938.780 [DAT](INFO): DAT read: Rx Time:17:02:17.5427 

2025-06-05T17:02:18.780Z,1749142938.780 [DAT](INFO): Rx dataTimestamp_ set to:1749142938.779964
2025-06-05T17:02:18.782Z,1749142938.782 [DAT](INFO): DAT read: Bearing   3.9,  67.0 (Local)

2025-06-05T17:02:18.784Z,1749142938.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.9,  67.0 (Local)

2025-06-05T17:02:18.790Z,1749142938.790 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:18.795Z,1749142938.795 [DAT](INFO): DAT read: 17:02:17.5427 LVL= 20032, 22225, 25458, 23187, AGC= 46, IDX= 506,-0.39,-0.367,-0.787,-0.386,-1.887, PHS= 1.608, 1.147, 1.498, RAW= 136.7, -74.5, CAL= 146.1, -67.0, ROT=   3.9,  67.0

2025-06-05T17:02:18.796Z,1749142938.796 [DAT](INFO): got valid direction response:
 17:02:17.5427 LVL= 20032, 22225, 25458, 23187, AGC= 46, IDX= 506,-0.39,-0.367,-0.787,-0.386,-1.887, PHS= 1.608, 1.147, 1.498, RAW= 136.7, -74.5, CAL= 146.1, -67.0, ROT=   3.9,  67.0

2025-06-05T17:02:18.796Z,1749142938.796 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-06-05T17:02:18.797Z,1749142938.797 [DAT](INFO): direction in FSK: [0.389826,0.026576,-0.920505]
2025-06-05T17:02:18.797Z,1749142938.797 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:18.803Z,1749142938.803 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=13.124118
2025-06-05T17:02:18.804Z,1749142938.804 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T17:02:19.047Z,1749142939.047 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=13.366916
2025-06-05T17:02:19.048Z,1749142939.048 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T17:02:19.296Z,1749142939.296 [DAT](INFO): DAT read: Rx Time:17:02:18.0426 

2025-06-05T17:02:19.296Z,1749142939.296 [DAT](INFO): Rx dataTimestamp_ set to:1749142939.295974
2025-06-05T17:02:19.298Z,1749142939.298 [DAT](INFO): DAT read: Bearing 345.5,  59.8 (Local)

2025-06-05T17:02:19.298Z,1749142939.298 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.5,  59.8 (Local)

2025-06-05T17:02:19.301Z,1749142939.301 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:19.307Z,1749142939.307 [DAT](INFO): DAT read: 17:02:18.0426 LVL= 19696, 20257, 20274, 22675, AGC= 46, IDX= 505,-0.30,-2.597,-3.039,-2.386, 2.228, PHS= 1.546, 1.063, 1.666, RAW= 160.8, -69.9, CAL= 164.5, -59.8, ROT= 345.5,  59.8

2025-06-05T17:02:19.308Z,1749142939.308 [DAT](INFO): got valid direction response:
 17:02:18.0426 LVL= 19696, 20257, 20274, 22675, AGC= 46, IDX= 505,-0.30,-2.597,-3.039,-2.386, 2.228, PHS= 1.546, 1.063, 1.666, RAW= 160.8, -69.9, CAL= 164.5, -59.8, ROT= 345.5,  59.8

2025-06-05T17:02:19.308Z,1749142939.308 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-06-05T17:02:19.309Z,1749142939.309 [DAT](INFO): direction in FSK: [0.486998,-0.125946,-0.864275]
2025-06-05T17:02:19.310Z,1749142939.310 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:19.324Z,1749142939.324 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=13.644555
2025-06-05T17:02:19.549Z,1749142939.549 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=13.869565
2025-06-05T17:02:19.801Z,1749142939.801 [DAT](INFO): DAT read: Rx Time:17:02:18.5427 

2025-06-05T17:02:19.802Z,1749142939.802 [DAT](INFO): Rx dataTimestamp_ set to:1749142939.801251
2025-06-05T17:02:19.803Z,1749142939.803 [DAT](INFO): DAT read: Bearing 335.8,  57.7 (Local)

2025-06-05T17:02:19.803Z,1749142939.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.8,  57.7 (Local)

2025-06-05T17:02:19.805Z,1749142939.805 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:19.810Z,1749142939.810 [DAT](INFO): DAT read: 17:02:18.5427 LVL= 21904, 22689, 21538, 24659, AGC= 47, IDX= 506,-0.25,-1.861,-2.282,-1.429, 3.004, PHS= 1.506, 1.044, 1.847, RAW= 175.0, -65.8, CAL= 174.2, -57.7, ROT= 335.8,  57.7

2025-06-05T17:02:19.811Z,1749142939.811 [DAT](INFO): got valid direction response:
 17:02:18.5427 LVL= 21904, 22689, 21538, 24659, AGC= 47, IDX= 506,-0.25,-1.861,-2.282,-1.429, 3.004, PHS= 1.506, 1.044, 1.847, RAW= 175.0, -65.8, CAL= 174.2, -57.7, ROT= 335.8,  57.7

2025-06-05T17:02:19.811Z,1749142939.811 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-06-05T17:02:19.812Z,1749142939.812 [DAT](INFO): direction in FSK: [0.487393,-0.219043,-0.845262]
2025-06-05T17:02:19.813Z,1749142939.813 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:19.818Z,1749142939.818 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=14.139162
2025-06-05T17:02:20.052Z,1749142940.052 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=14.372415
2025-06-05T17:02:20.305Z,1749142940.305 [DAT](INFO): DAT read: Rx Time:17:02:19.0426 

2025-06-05T17:02:20.306Z,1749142940.306 [DAT](INFO): Rx dataTimestamp_ set to:1749142940.305108
2025-06-05T17:02:20.308Z,1749142940.308 [DAT](INFO): DAT read: Bearing 349.0,  59.8 (Local)

2025-06-05T17:02:20.309Z,1749142940.309 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.0,  59.8 (Local)

2025-06-05T17:02:20.312Z,1749142940.312 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:20.324Z,1749142940.324 [DAT](INFO): DAT read: 17:02:19.0426 LVL= 18704, 21665, 18994, 21491, AGC= 46, IDX= 505,-0.19,-2.512,-2.973,-2.360, 2.332, PHS= 1.527, 1.025, 1.588, RAW= 155.6, -69.9, CAL= 161.0, -59.8, ROT= 349.0,  59.8

2025-06-05T17:02:20.325Z,1749142940.325 [DAT](INFO): got valid direction response:
 17:02:19.0426 LVL= 18704, 21665, 18994, 21491, AGC= 46, IDX= 505,-0.19,-2.512,-2.973,-2.360, 2.332, PHS= 1.527, 1.025, 1.588, RAW= 155.6, -69.9, CAL= 161.0, -59.8, ROT= 349.0,  59.8

2025-06-05T17:02:20.331Z,1749142940.331 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-05T17:02:20.332Z,1749142940.332 [DAT](INFO): direction in FSK: [0.493778,-0.095981,-0.864275]
2025-06-05T17:02:20.333Z,1749142940.333 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:20.357Z,1749142940.357 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=14.677816
2025-06-05T17:02:20.555Z,1749142940.555 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=14.876143
2025-06-05T17:02:20.808Z,1749142940.808 [DAT](INFO): DAT read: Rx Time:17:02:19.5427 

2025-06-05T17:02:20.808Z,1749142940.808 [DAT](INFO): Rx dataTimestamp_ set to:1749142940.808130
2025-06-05T17:02:20.810Z,1749142940.810 [DAT](INFO): DAT read: Bearing 336.5,  57.1 (Local)

2025-06-05T17:02:20.810Z,1749142940.810 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.5,  57.1 (Local)

2025-06-05T17:02:20.812Z,1749142940.812 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:20.818Z,1749142940.818 [DAT](INFO): DAT read: 17:02:19.5427 LVL= 21104, 20849, 18242, 23507, AGC= 46, IDX= 506,-0.12,-2.102,-2.550,-1.672, 2.777, PHS= 1.492, 1.003, 1.831, RAW= 174.0, -64.7, CAL= 173.5, -57.1, ROT= 336.5,  57.1

2025-06-05T17:02:20.819Z,1749142940.819 [DAT](INFO): got valid direction response:
 17:02:19.5427 LVL= 21104, 20849, 18242, 23507, AGC= 46, IDX= 506,-0.12,-2.102,-2.550,-1.672, 2.777, PHS= 1.492, 1.003, 1.831, RAW= 174.0, -64.7, CAL= 173.5, -57.1, ROT= 336.5,  57.1

2025-06-05T17:02:20.820Z,1749142940.820 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-06-05T17:02:20.821Z,1749142940.821 [DAT](INFO): direction in FSK: [0.498124,-0.216590,-0.839620]
2025-06-05T17:02:20.821Z,1749142940.821 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:20.825Z,1749142940.825 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=15.145949
2025-06-05T17:02:21.059Z,1749142941.059 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=15.380104
2025-06-05T17:02:21.312Z,1749142941.312 [DAT](INFO): DAT read: Rx Time:17:02:20.0426 

2025-06-05T17:02:21.312Z,1749142941.312 [DAT](INFO): Rx dataTimestamp_ set to:1749142941.311786
2025-06-05T17:02:21.313Z,1749142941.313 [DAT](INFO): DAT read: Bearing 356.8,  58.9 (Local)

2025-06-05T17:02:21.314Z,1749142941.314 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  58.9 (Local)

2025-06-05T17:02:21.317Z,1749142941.317 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:21.321Z,1749142941.321 [DAT](INFO): DAT read: 17:02:20.0426 LVL= 20640, 21569, 18002, 23539, AGC= 46, IDX= 505,-0.06,-2.491,-3.038,-2.461, 2.341, PHS= 1.540, 0.951, 1.478, RAW= 144.5, -68.2, CAL= 153.2, -58.9, ROT= 356.8,  58.9

2025-06-05T17:02:21.323Z,1749142941.323 [DAT](INFO): got valid direction response:
 17:02:20.0426 LVL= 20640, 21569, 18002, 23539, AGC= 46, IDX= 505,-0.06,-2.491,-3.038,-2.461, 2.341, PHS= 1.540, 0.951, 1.478, RAW= 144.5, -68.2, CAL= 153.2, -58.9, ROT= 356.8,  58.9

2025-06-05T17:02:21.323Z,1749142941.323 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-06-05T17:02:21.324Z,1749142941.324 [DAT](INFO): direction in FSK: [0.515728,-0.028834,-0.856267]
2025-06-05T17:02:21.325Z,1749142941.325 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:21.328Z,1749142941.328 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=15.649033
2025-06-05T17:02:21.564Z,1749142941.564 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=15.884441
2025-06-05T17:02:21.817Z,1749142941.817 [DAT](INFO): DAT read: Rx Time:17:02:20.5428 

2025-06-05T17:02:21.818Z,1749142941.818 [DAT](INFO): Rx dataTimestamp_ set to:1749142941.817281
2025-06-05T17:02:21.819Z,1749142941.819 [DAT](INFO): DAT read: Bearing 340.3,  59.6 (Local)

2025-06-05T17:02:21.819Z,1749142941.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.3,  59.6 (Local)

2025-06-05T17:02:21.821Z,1749142941.821 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:21.826Z,1749142941.826 [DAT](INFO): DAT read: 17:02:20.5428 LVL= 18208, 19889, 19698, 20915, AGC= 45, IDX= 506,-0.04,-1.516,-1.901,-1.219,-2.920, PHS= 1.492, 1.066, 1.697, RAW= 168.6, -69.6, CAL= 169.7, -59.6, ROT= 340.3,  59.6

2025-06-05T17:02:21.827Z,1749142941.827 [DAT](INFO): got valid direction response:
 17:02:20.5428 LVL= 18208, 19889, 19698, 20915, AGC= 45, IDX= 506,-0.04,-1.516,-1.901,-1.219,-2.920, PHS= 1.492, 1.066, 1.697, RAW= 168.6, -69.6, CAL= 169.7, -59.6, ROT= 340.3,  59.6

2025-06-05T17:02:21.827Z,1749142941.827 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-05T17:02:21.829Z,1749142941.829 [DAT](INFO): direction in FSK: [0.476416,-0.170582,-0.862514]
2025-06-05T17:02:21.829Z,1749142941.829 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:21.843Z,1749142941.843 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=16.163715
2025-06-05T17:02:22.068Z,1749142942.068 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=16.389011
2025-06-05T17:02:22.320Z,1749142942.320 [DAT](INFO): DAT read: Rx Time:17:02:21.0427 

2025-06-05T17:02:22.320Z,1749142942.320 [DAT](INFO): Rx dataTimestamp_ set to:1749142942.319923
2025-06-05T17:02:22.321Z,1749142942.321 [DAT](INFO): DAT read: Bearing 356.4,  61.4 (Local)

2025-06-05T17:02:22.322Z,1749142942.322 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,  61.4 (Local)

2025-06-05T17:02:22.324Z,1749142942.324 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:22.329Z,1749142942.329 [DAT](INFO): DAT read: 17:02:21.0427 LVL= 20432, 21201, 21458, 23027, AGC= 46, IDX= 505, 0.01,-1.972,-2.453,-1.929, 2.836, PHS= 1.564, 1.042, 1.515, RAW= 145.2, -71.1, CAL= 153.6, -61.4, ROT= 356.4,  61.4

2025-06-05T17:02:22.342Z,1749142942.342 [DAT](INFO): got valid direction response:
 17:02:21.0427 LVL= 20432, 21201, 21458, 23027, AGC= 46, IDX= 505, 0.01,-1.972,-2.453,-1.929, 2.836, PHS= 1.564, 1.042, 1.515, RAW= 145.2, -71.1, CAL= 153.6, -61.4, ROT= 356.4,  61.4

2025-06-05T17:02:22.343Z,1749142942.343 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-05T17:02:22.344Z,1749142942.344 [DAT](INFO): direction in FSK: [0.477747,-0.030057,-0.877983]
2025-06-05T17:02:22.344Z,1749142942.344 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:22.375Z,1749142942.375 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=16.695730
2025-06-05T17:02:22.571Z,1749142942.571 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=16.892141
2025-06-05T17:02:22.825Z,1749142942.825 [DAT](INFO): DAT read: Rx Time:17:02:21.5427 

2025-06-05T17:02:22.825Z,1749142942.825 [DAT](INFO): Rx dataTimestamp_ set to:1749142942.824801
2025-06-05T17:02:22.827Z,1749142942.827 [DAT](INFO): DAT read: Bearing   8.2,  64.6 (Local)

2025-06-05T17:02:22.828Z,1749142942.828 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.2,  64.6 (Local)

2025-06-05T17:02:22.831Z,1749142942.831 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:22.837Z,1749142942.837 [DAT](INFO): DAT read: 17:02:21.5427 LVL= 17616, 20049, 21330, 21075, AGC= 45, IDX= 505, 0.05,-1.287,-1.750,-1.372,-2.760, PHS= 1.561, 1.057, 1.386, RAW= 130.0, -72.6, CAL= 141.8, -64.6, ROT=   8.2,  64.6

2025-06-05T17:02:22.838Z,1749142942.838 [DAT](INFO): got valid direction response:
 17:02:21.5427 LVL= 17616, 20049, 21330, 21075, AGC= 45, IDX= 505, 0.05,-1.287,-1.750,-1.372,-2.760, PHS= 1.561, 1.057, 1.386, RAW= 130.0, -72.6, CAL= 141.8, -64.6, ROT=   8.2,  64.6

2025-06-05T17:02:22.838Z,1749142942.838 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-05T17:02:22.839Z,1749142942.839 [DAT](INFO): direction in FSK: [0.424550,0.061179,-0.903335]
2025-06-05T17:02:22.839Z,1749142942.839 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:22.843Z,1749142942.843 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=17.163830
2025-06-05T17:02:23.077Z,1749142943.077 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=17.397051
2025-06-05T17:02:23.328Z,1749142943.328 [DAT](INFO): DAT read: Rx Time:17:02:22.0426 

2025-06-05T17:02:23.328Z,1749142943.328 [DAT](INFO): Rx dataTimestamp_ set to:1749142943.327890
2025-06-05T17:02:23.329Z,1749142943.329 [DAT](INFO): DAT read: Bearing  29.0,  57.3 (Local)

2025-06-05T17:02:23.330Z,1749142943.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.0,  57.3 (Local)

2025-06-05T17:02:23.332Z,1749142943.332 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:23.337Z,1749142943.337 [DAT](INFO): DAT read: 17:02:22.0426 LVL= 19808, 21393, 17042, 23315, AGC= 46, IDX= 504, 0.10,-2.498, 3.135,-2.956, 2.272, PHS= 1.601, 0.910, 1.052, RAW= 101.2, -63.3, CAL= 121.0, -57.3, ROT=  29.0,  57.3

2025-06-05T17:02:23.339Z,1749142943.339 [DAT](INFO): got valid direction response:
 17:02:22.0426 LVL= 19808, 21393, 17042, 23315, AGC= 46, IDX= 504, 0.10,-2.498, 3.135,-2.956, 2.272, PHS= 1.601, 0.910, 1.052, RAW= 101.2, -63.3, CAL= 121.0, -57.3, ROT=  29.0,  57.3

2025-06-05T17:02:23.339Z,1749142943.339 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-06-05T17:02:23.340Z,1749142943.340 [DAT](INFO): direction in FSK: [0.472505,0.261914,-0.841511]
2025-06-05T17:02:23.340Z,1749142943.340 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:23.345Z,1749142943.345 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=17.665878
2025-06-05T17:02:23.579Z,1749142943.579 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=17.900131
2025-06-05T17:02:23.832Z,1749142943.832 [DAT](INFO): DAT read: Rx Time:17:02:22.5427 

2025-06-05T17:02:23.833Z,1749142943.833 [DAT](INFO): Rx dataTimestamp_ set to:1749142943.832375
2025-06-05T17:02:23.835Z,1749142943.835 [DAT](INFO): DAT read: Bearing  23.5,  58.6 (Local)

2025-06-05T17:02:23.835Z,1749142943.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.5,  58.6 (Local)

2025-06-05T17:02:23.837Z,1749142943.837 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:23.872Z,1749142943.872 [DAT](INFO): DAT read: 17:02:22.5427 LVL= 19840, 21009, 17330, 22867, AGC= 46, IDX= 505, 0.13,-1.609,-2.211,-1.960,-3.082, PHS= 1.562, 0.919, 1.119, RAW= 107.7, -65.9, CAL= 126.5, -58.6, ROT=  23.5,  58.6

2025-06-05T17:02:23.873Z,1749142943.873 [DAT](INFO): got valid direction response:
 17:02:22.5427 LVL= 19840, 21009, 17330, 22867, AGC= 46, IDX= 505, 0.13,-1.609,-2.211,-1.960,-3.082, PHS= 1.562, 0.919, 1.119, RAW= 107.7, -65.9, CAL= 126.5, -58.6, ROT=  23.5,  58.6

2025-06-05T17:02:23.873Z,1749142943.873 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-05T17:02:23.879Z,1749142943.879 [DAT](INFO): direction in FSK: [0.477797,0.207752,-0.853551]
2025-06-05T17:02:23.886Z,1749142943.886 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:23.902Z,1749142943.902 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=18.210756
2025-06-05T17:02:24.083Z,1749142944.083 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=18.404085
2025-06-05T17:02:24.337Z,1749142944.337 [DAT](INFO): DAT read: Rx Time:17:02:23.0427 

2025-06-05T17:02:24.337Z,1749142944.337 [DAT](INFO): Rx dataTimestamp_ set to:1749142944.336779
2025-06-05T17:02:24.339Z,1749142944.339 [DAT](INFO): DAT read: Bearing  35.9,  57.3 (Local)

2025-06-05T17:02:24.340Z,1749142944.340 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.9,  57.3 (Local)

2025-06-05T17:02:24.343Z,1749142944.343 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:24.349Z,1749142944.349 [DAT](INFO): DAT read: 17:02:23.0427 LVL= 20208, 20769, 17458, 23123, AGC= 46, IDX= 504, 0.16,-2.194,-2.824,-2.739, 2.568, PHS= 1.610, 0.939, 0.973, RAW=  92.6, -62.3, CAL= 114.1, -57.3, ROT=  35.9,  57.3

2025-06-05T17:02:24.356Z,1749142944.356 [DAT](INFO): got valid direction response:
 17:02:23.0427 LVL= 20208, 20769, 17458, 23123, AGC= 46, IDX= 504, 0.16,-2.194,-2.824,-2.739, 2.568, PHS= 1.610, 0.939, 0.973, RAW=  92.6, -62.3, CAL= 114.1, -57.3, ROT=  35.9,  57.3

2025-06-05T17:02:24.356Z,1749142944.356 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-06-05T17:02:24.357Z,1749142944.357 [DAT](INFO): direction in FSK: [0.437617,0.316782,-0.841511]
2025-06-05T17:02:24.358Z,1749142944.358 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:24.375Z,1749142944.375 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=18.695917
2025-06-05T17:02:24.587Z,1749142944.587 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=18.908100
2025-06-05T17:02:24.840Z,1749142944.840 [DAT](INFO): DAT read: Rx Time:17:02:23.5428 

2025-06-05T17:02:24.840Z,1749142944.840 [DAT](INFO): Rx dataTimestamp_ set to:1749142944.839934
2025-06-05T17:02:24.841Z,1749142944.841 [DAT](INFO): DAT read: Bearing  43.4,  54.2 (Local)

2025-06-05T17:02:24.842Z,1749142944.842 [DAT](INFO): Local bearing/azimuth received:
 Bearing  43.4,  54.2 (Local)

2025-06-05T17:02:24.844Z,1749142944.844 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:24.848Z,1749142944.848 [DAT](INFO): DAT read: 17:02:23.5428 LVL= 20624, 20721, 17906, 24163, AGC= 46, IDX= 505, 0.19,-0.466,-1.151,-1.178,-1.993, PHS= 1.615, 0.889, 0.812, RAW=  85.0, -56.8, CAL= 106.6, -54.2, ROT=  43.4,  54.2

2025-06-05T17:02:24.851Z,1749142944.851 [DAT](INFO): got valid direction response:
 17:02:23.5428 LVL= 20624, 20721, 17906, 24163, AGC= 46, IDX= 505, 0.19,-0.466,-1.151,-1.178,-1.993, PHS= 1.615, 0.889, 0.812, RAW=  85.0, -56.8, CAL= 106.6, -54.2, ROT=  43.4,  54.2

2025-06-05T17:02:24.851Z,1749142944.851 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-06-05T17:02:24.852Z,1749142944.852 [DAT](INFO): direction in FSK: [0.425015,0.401917,-0.811064]
2025-06-05T17:02:24.852Z,1749142944.852 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:24.856Z,1749142944.856 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=19.177294
2025-06-05T17:02:25.092Z,1749142945.092 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=19.412533
2025-06-05T17:02:25.344Z,1749142945.344 [DAT](INFO): DAT read: Rx Time:17:02:24.0427 

2025-06-05T17:02:25.344Z,1749142945.344 [DAT](INFO): Rx dataTimestamp_ set to:1749142945.343861
2025-06-05T17:02:25.345Z,1749142945.345 [DAT](INFO): DAT read: Bearing  38.2,  56.1 (Local)

2025-06-05T17:02:25.346Z,1749142945.346 [DAT](INFO): Local bearing/azimuth received:
 Bearing  38.2,  56.1 (Local)

2025-06-05T17:02:25.348Z,1749142945.348 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:25.353Z,1749142945.353 [DAT](INFO): DAT read: 17:02:24.0427 LVL= 21536, 20721, 20802, 24531, AGC= 46, IDX= 504, 0.19,-1.136,-1.786,-1.731,-2.643, PHS= 1.595, 0.904, 0.909, RAW=  90.4, -60.3, CAL= 111.8, -56.1, ROT=  38.2,  56.1

2025-06-05T17:02:25.355Z,1749142945.355 [DAT](INFO): got valid direction response:
 17:02:24.0427 LVL= 21536, 20721, 20802, 24531, AGC= 46, IDX= 504, 0.19,-1.136,-1.786,-1.731,-2.643, PHS= 1.595, 0.904, 0.909, RAW=  90.4, -60.3, CAL= 111.8, -56.1, ROT=  38.2,  56.1

2025-06-05T17:02:25.355Z,1749142945.355 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-05T17:02:25.356Z,1749142945.356 [DAT](INFO): direction in FSK: [0.438308,0.344914,-0.830012]
2025-06-05T17:02:25.356Z,1749142945.356 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:25.360Z,1749142945.360 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=19.680986
2025-06-05T17:02:25.595Z,1749142945.595 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=19.916178
2025-06-05T17:02:25.848Z,1749142945.848 [DAT](INFO): DAT read: Rx Time:17:02:24.5428 

2025-06-05T17:02:25.848Z,1749142945.848 [DAT](INFO): Rx dataTimestamp_ set to:1749142945.848048
2025-06-05T17:02:25.851Z,1749142945.851 [DAT](INFO): DAT read: Bearing  42.6,  54.6 (Local)

2025-06-05T17:02:25.851Z,1749142945.851 [DAT](INFO): Local bearing/azimuth received:
 Bearing  42.6,  54.6 (Local)

2025-06-05T17:02:25.853Z,1749142945.853 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:25.858Z,1749142945.858 [DAT](INFO): DAT read: 17:02:24.5428 LVL= 20112, 21345, 18866, 22947, AGC= 46, IDX= 505, 0.24,-0.040,-0.733,-0.749,-1.603, PHS= 1.651, 0.917, 0.851, RAW=  85.8, -57.5, CAL= 107.4, -54.6, ROT=  42.6,  54.6

2025-06-05T17:02:25.859Z,1749142945.859 [DAT](INFO): got valid direction response:
 17:02:24.5428 LVL= 20112, 21345, 18866, 22947, AGC= 46, IDX= 505, 0.24,-0.040,-0.733,-0.749,-1.603, PHS= 1.651, 0.917, 0.851, RAW=  85.8, -57.5, CAL= 107.4, -54.6, ROT=  42.6,  54.6

2025-06-05T17:02:25.859Z,1749142945.859 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-05T17:02:25.860Z,1749142945.860 [DAT](INFO): direction in FSK: [0.426407,0.392102,-0.815128]
2025-06-05T17:02:25.861Z,1749142945.861 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:25.881Z,1749142945.881 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=20.201591
2025-06-05T17:02:26.101Z,1749142946.101 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=20.422115
2025-06-05T17:02:26.352Z,1749142946.352 [DAT](INFO): DAT read: Rx Time:17:02:25.0427 

2025-06-05T17:02:26.353Z,1749142946.353 [DAT](INFO): Rx dataTimestamp_ set to:1749142946.352071
2025-06-05T17:02:26.355Z,1749142946.355 [DAT](INFO): DAT read: Bearing  46.7,  51.9 (Local)

2025-06-05T17:02:26.355Z,1749142946.355 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.7,  51.9 (Local)

2025-06-05T17:02:26.358Z,1749142946.358 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:26.366Z,1749142946.366 [DAT](INFO): DAT read: 17:02:25.0427 LVL= 22480, 22945, 20802, 26067, AGC= 47, IDX= 504, 0.31,-1.314,-2.075,-2.161,-2.912, PHS= 1.686, 0.884, 0.748, RAW=  82.3, -53.2, CAL= 103.3, -51.9, ROT=  46.7,  51.9

2025-06-05T17:02:26.368Z,1749142946.368 [DAT](INFO): got valid direction response:
 17:02:25.0427 LVL= 22480, 22945, 20802, 26067, AGC= 47, IDX= 504, 0.31,-1.314,-2.075,-2.161,-2.912, PHS= 1.686, 0.884, 0.748, RAW=  82.3, -53.2, CAL= 103.3, -51.9, ROT=  46.7,  51.9

2025-06-05T17:02:26.368Z,1749142946.368 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-05T17:02:26.371Z,1749142946.371 [DAT](INFO): direction in FSK: [0.423175,0.449062,-0.786935]
2025-06-05T17:02:26.371Z,1749142946.371 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:26.402Z,1749142946.402 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=20.718800
2025-06-05T17:02:26.603Z,1749142946.603 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=20.923887
2025-06-05T17:02:26.857Z,1749142946.857 [DAT](INFO): DAT read: Rx Time:17:02:25.5427 

2025-06-05T17:02:26.858Z,1749142946.858 [DAT](INFO): Rx dataTimestamp_ set to:1749142946.857231
2025-06-05T17:02:26.859Z,1749142946.859 [DAT](INFO): DAT read: Bearing  52.2,  49.9 (Local)

2025-06-05T17:02:26.859Z,1749142946.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.2,  49.9 (Local)

2025-06-05T17:02:26.861Z,1749142946.861 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:26.873Z,1749142946.873 [DAT](INFO): DAT read: 17:02:25.5427 LVL= 25072, 23617, 21234, 29171, AGC= 48, IDX= 504, 0.34,-1.718,-2.467,-2.658, 3.016, PHS= 1.637, 0.847, 0.606, RAW=  77.1, -49.5, CAL=  97.8, -49.9, ROT=  52.2,  49.9

2025-06-05T17:02:26.875Z,1749142946.875 [DAT](INFO): got valid direction response:
 17:02:25.5427 LVL= 25072, 23617, 21234, 29171, AGC= 48, IDX= 504, 0.34,-1.718,-2.467,-2.658, 3.016, PHS= 1.637, 0.847, 0.606, RAW=  77.1, -49.5, CAL=  97.8, -49.9, ROT=  52.2,  49.9

2025-06-05T17:02:26.875Z,1749142946.875 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-05T17:02:26.876Z,1749142946.876 [DAT](INFO): direction in FSK: [0.394788,0.508957,-0.764921]
2025-06-05T17:02:26.876Z,1749142946.876 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:26.880Z,1749142946.880 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=21.201139
2025-06-05T17:02:27.107Z,1749142947.107 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=21.428204
2025-06-05T17:02:27.360Z,1749142947.360 [DAT](INFO): DAT read: Rx Time:17:02:26.0426 

2025-06-05T17:02:27.360Z,1749142947.360 [DAT](INFO): Rx dataTimestamp_ set to:1749142947.359836
2025-06-05T17:02:27.361Z,1749142947.361 [DAT](INFO): DAT read: Bearing  33.9,  58.9 (Local)

2025-06-05T17:02:27.362Z,1749142947.362 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.9,  58.9 (Local)

2025-06-05T17:02:27.364Z,1749142947.364 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:27.373Z,1749142947.373 [DAT](INFO): DAT read: 17:02:26.0426 LVL= 20320, 20945, 22514, 24051, AGC= 46, IDX= 503, 0.34,-2.339,-2.948,-2.843, 2.371, PHS= 1.661, 1.011, 1.066, RAW=  94.4, -64.7, CAL= 116.1, -58.9, ROT=  33.9,  58.9

2025-06-05T17:02:27.374Z,1749142947.374 [DAT](INFO): got valid direction response:
 17:02:26.0426 LVL= 20320, 20945, 22514, 24051, AGC= 46, IDX= 503, 0.34,-2.339,-2.948,-2.843, 2.371, PHS= 1.661, 1.011, 1.066, RAW=  94.4, -64.7, CAL= 116.1, -58.9, ROT=  33.9,  58.9

2025-06-05T17:02:27.374Z,1749142947.374 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-06-05T17:02:27.375Z,1749142947.375 [DAT](INFO): direction in FSK: [0.428729,0.288094,-0.856267]
2025-06-05T17:02:27.376Z,1749142947.376 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:27.388Z,1749142947.388 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=21.708431
2025-06-05T17:02:27.612Z,1749142947.612 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=21.932707
2025-06-05T17:02:27.868Z,1749142947.868 [DAT](INFO): DAT read: Rx Time:17:02:26.5428 

2025-06-05T17:02:27.869Z,1749142947.869 [DAT](INFO): Rx dataTimestamp_ set to:1749142947.868427
2025-06-05T17:02:27.871Z,1749142947.871 [DAT](INFO): DAT read: Bearing  40.1,  55.7 (Local)

2025-06-05T17:02:27.871Z,1749142947.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.1,  55.7 (Local)

2025-06-05T17:02:27.873Z,1749142947.873 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:27.877Z,1749142947.877 [DAT](INFO): DAT read: 17:02:26.5428 LVL= 22704, 22865, 21026, 27283, AGC= 47, IDX= 504, 0.41,-1.425,-2.106,-2.081,-2.999, PHS= 1.662, 0.940, 0.914, RAW=  88.3, -59.4, CAL= 109.9, -55.7, ROT=  40.1,  55.7

2025-06-05T17:02:27.883Z,1749142947.883 [DAT](INFO): got valid direction response:
 17:02:26.5428 LVL= 22704, 22865, 21026, 27283, AGC= 47, IDX= 504, 0.41,-1.425,-2.106,-2.081,-2.999, PHS= 1.662, 0.940, 0.914, RAW=  88.3, -59.4, CAL= 109.9, -55.7, ROT=  40.1,  55.7

2025-06-05T17:02:27.884Z,1749142947.884 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-06-05T17:02:27.885Z,1749142947.885 [DAT](INFO): direction in FSK: [0.431053,0.362980,-0.826098]
2025-06-05T17:02:27.885Z,1749142947.885 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:27.889Z,1749142947.889 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=22.210012
2025-06-05T17:02:28.116Z,1749142948.116 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=22.436474
2025-06-05T17:02:28.371Z,1749142948.371 [DAT](INFO): DAT read: Rx Time:17:02:27.0427 

2025-06-05T17:02:28.372Z,1749142948.372 [DAT](INFO): Rx dataTimestamp_ set to:1749142948.371567
2025-06-05T17:02:28.374Z,1749142948.374 [DAT](INFO): DAT read: Bearing  30.5,  59.5 (Local)

2025-06-05T17:02:28.375Z,1749142948.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.5,  59.5 (Local)

2025-06-05T17:02:28.378Z,1749142948.378 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:28.387Z,1749142948.387 [DAT](INFO): DAT read: 17:02:27.0427 LVL= 20656, 20417, 21298, 24819, AGC= 46, IDX= 503, 0.46,-2.705, 2.986, 3.134, 2.019, PHS= 1.648, 1.015, 1.112, RAW=  98.2, -66.1, CAL= 119.5, -59.5, ROT=  30.5,  59.5

2025-06-05T17:02:28.389Z,1749142948.389 [DAT](INFO): got valid direction response:
 17:02:27.0427 LVL= 20656, 20417, 21298, 24819, AGC= 46, IDX= 503, 0.46,-2.705, 2.986, 3.134, 2.019, PHS= 1.648, 1.015, 1.112, RAW=  98.2, -66.1, CAL= 119.5, -59.5, ROT=  30.5,  59.5

2025-06-05T17:02:28.390Z,1749142948.390 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-06-05T17:02:28.392Z,1749142948.392 [DAT](INFO): direction in FSK: [0.437310,0.257595,-0.861629]
2025-06-05T17:02:28.392Z,1749142948.392 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:28.407Z,1749142948.407 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=22.727615
2025-06-05T17:02:28.621Z,1749142948.621 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=22.941746
2025-06-05T17:02:28.872Z,1749142948.872 [DAT](INFO): DAT read: Rx Time:17:02:27.5428 

2025-06-05T17:02:28.872Z,1749142948.872 [DAT](INFO): Rx dataTimestamp_ set to:1749142948.871893
2025-06-05T17:02:28.873Z,1749142948.873 [DAT](INFO): DAT read: Bearing  19.1,  60.8 (Local)

2025-06-05T17:02:28.874Z,1749142948.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.1,  60.8 (Local)

2025-06-05T17:02:28.876Z,1749142948.876 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:28.887Z,1749142948.887 [DAT](INFO): DAT read: 17:02:27.5428 LVL= 23216, 21745, 22242, 27987, AGC= 47, IDX= 505,-0.45,-2.439,-3.006,-2.714, 2.310, PHS= 1.623, 1.015, 1.257, RAW= 113.3, -68.9, CAL= 130.9, -60.8, ROT=  19.1,  60.8

2025-06-05T17:02:28.888Z,1749142948.888 [DAT](INFO): got valid direction response:
 17:02:27.5428 LVL= 23216, 21745, 22242, 27987, AGC= 47, IDX= 505,-0.45,-2.439,-3.006,-2.714, 2.310, PHS= 1.623, 1.015, 1.257, RAW= 113.3, -68.9, CAL= 130.9, -60.8, ROT=  19.1,  60.8

2025-06-05T17:02:28.888Z,1749142948.888 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-06-05T17:02:28.889Z,1749142948.889 [DAT](INFO): direction in FSK: [0.461002,0.159636,-0.872922]
2025-06-05T17:02:28.890Z,1749142948.890 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:28.897Z,1749142948.897 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=23.218376
2025-06-05T17:02:29.128Z,1749142949.128 [DAT](INFO): DAT read: Rx Time:17:02:28.0427 

2025-06-05T17:02:29.130Z,1749142949.130 [DAT](INFO): Rx dataTimestamp_ set to:1749142949.128738
2025-06-05T17:02:29.132Z,1749142949.132 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=23.452669
2025-06-05T17:02:29.376Z,1749142949.376 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:29.376Z,1749142949.376 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-06-05T17:02:29.377Z,1749142949.377 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=23.698256
2025-06-05T17:02:29.632Z,1749142949.632 [DAT](INFO): DAT read: Rx Time:17:02:28.5428 

2025-06-05T17:02:29.634Z,1749142949.634 [DAT](INFO): Rx dataTimestamp_ set to:1749142949.632835
2025-06-05T17:02:29.637Z,1749142949.637 [DAT](INFO): DAT read: Bearing 355.6,  61.0 (Local)

2025-06-05T17:02:29.639Z,1749142949.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  61.0 (Local)

2025-06-05T17:02:29.641Z,1749142949.641 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=23.960901
2025-06-05T17:02:29.881Z,1749142949.881 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:29.887Z,1749142949.887 [DAT](INFO): DAT read: 17:02:28.5428 LVL= 28192, 25073, 23234, 32755, AGC= 49, IDX= 505,-0.29, 2.849, 2.353, 2.900, 1.342, PHS= 1.595, 1.058, 1.555, RAW= 146.2, -70.8, CAL= 154.4, -61.0, ROT= 355.6,  61.0

2025-06-05T17:02:29.888Z,1749142949.888 [DAT](INFO): got valid direction response:
 17:02:28.5428 LVL= 28192, 25073, 23234, 32755, AGC= 49, IDX= 505,-0.29, 2.849, 2.353, 2.900, 1.342, PHS= 1.595, 1.058, 1.555, RAW= 146.2, -70.8, CAL= 154.4, -61.0, ROT= 355.6,  61.0

2025-06-05T17:02:29.888Z,1749142949.888 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-06-05T17:02:29.889Z,1749142949.889 [DAT](INFO): direction in FSK: [0.483381,-0.037194,-0.874620]
2025-06-05T17:02:29.889Z,1749142949.889 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:29.893Z,1749142949.893 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=24.213892
2025-06-05T17:02:30.134Z,1749142950.134 [DAT](INFO): DAT read: Rx Time:17:02:29.0427 

2025-06-05T17:02:30.136Z,1749142950.136 [DAT](INFO): Rx dataTimestamp_ set to:1749142950.134782
2025-06-05T17:02:30.138Z,1749142950.138 [DAT](INFO): DAT read: Bearing 352.8,  64.8 (Local)

2025-06-05T17:02:30.139Z,1749142950.139 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.8,  64.8 (Local)

2025-06-05T17:02:30.141Z,1749142950.141 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=24.461355
2025-06-05T17:02:30.385Z,1749142950.385 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:30.389Z,1749142950.389 [DAT](INFO): DAT read: 17:02:29.0427 LVL= 22896, 22577, 22898, 28195, AGC= 47, IDX= 504,-0.25, 1.744, 1.325, 1.846, 0.210, PHS= 1.623, 1.162, 1.634, RAW= 151.2, -73.4, CAL= 157.2, -64.8, ROT= 352.8,  64.8

2025-06-05T17:02:30.391Z,1749142950.391 [DAT](INFO): got valid direction response:
 17:02:29.0427 LVL= 22896, 22577, 22898, 28195, AGC= 47, IDX= 504,-0.25, 1.744, 1.325, 1.846, 0.210, PHS= 1.623, 1.162, 1.634, RAW= 151.2, -73.4, CAL= 157.2, -64.8, ROT= 352.8,  64.8

2025-06-05T17:02:30.392Z,1749142950.392 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-06-05T17:02:30.393Z,1749142950.393 [DAT](INFO): direction in FSK: [0.422422,-0.053364,-0.904827]
2025-06-05T17:02:30.393Z,1749142950.393 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:30.397Z,1749142950.397 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=24.718107
2025-06-05T17:02:30.639Z,1749142950.639 [DAT](INFO): DAT read: Rx Time:17:02:29.5426 

2025-06-05T17:02:30.640Z,1749142950.640 [DAT](INFO): Rx dataTimestamp_ set to:1749142950.639031
2025-06-05T17:02:30.643Z,1749142950.643 [DAT](INFO): DAT read: Bearing   5.2,  65.0 (Local)

2025-06-05T17:02:30.644Z,1749142950.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.2,  65.0 (Local)

2025-06-05T17:02:30.648Z,1749142950.648 [DAT](INFO): DAT read: Range 10 to  1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:30.650Z,1749142950.650 [DAT](INFO): unknown deviceResponse_: Range 10 to  1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:30.703Z,1749142950.703 [DAT](INFO): DAT read: 17:02:29.5426 LVL= 25904, 24177, 26210, 31667, AGC= 48, IDX= 504,-0.22, 2.283, 1.802, 2.228, 0.701, PHS= 1.670, 1.148, 1.524, RAW= 134.3, -73.1, CAL= 144.8, -65.0, ROT=   5.2,  65.0

2025-06-05T17:02:30.704Z,1749142950.704 [DAT](INFO): got valid direction response:
 17:02:29.5426 LVL= 25904, 24177, 26210, 31667, AGC= 48, IDX= 504,-0.22, 2.283, 1.802, 2.228, 0.701, PHS= 1.670, 1.148, 1.524, RAW= 134.3, -73.1, CAL= 144.8, -65.0, ROT=   5.2,  65.0

2025-06-05T17:02:30.705Z,1749142950.705 [DAT](INFO): #Rx 63: Read direction message, but no range.
2025-06-05T17:02:30.706Z,1749142950.706 [DAT](INFO): direction in FSK: [0.420879,0.038303,-0.906308]
2025-06-05T17:02:30.713Z,1749142950.713 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=25.034023
2025-06-05T17:02:30.763Z,1749142950.763 [lineCaptureHoming:TrackAC.](INFO): DAT did not provide matching contact label.
2025-06-05T17:02:30.887Z,1749142950.887 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=25.208284
2025-06-05T17:02:31.143Z,1749142951.143 [DAT](INFO): DAT read: Rx Time:17:02:30.0425 

2025-06-05T17:02:31.144Z,1749142951.144 [DAT](INFO): Rx dataTimestamp_ set to:1749142951.143602
2025-06-05T17:02:31.149Z,1749142951.149 [DAT](INFO): DAT read: Bearing  17.9,  69.6 (Local)

2025-06-05T17:02:31.150Z,1749142951.150 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.9,  69.6 (Local)

2025-06-05T17:02:31.159Z,1749142951.159 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T17:02:31.161Z,1749142951.161 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-06-05T17:02:31.169Z,1749142951.169 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=25.489716
2025-06-05T17:02:31.395Z,1749142951.395 [DAT](INFO): DAT read: 17:02:30.0425 LVL= 22848, 27553, 32690, 28307, AGC= 47, IDX= 503,-0.20, 1.793, 1.377, 1.656, 0.222, PHS= 1.658, 1.201, 1.430, RAW= 120.0, -75.4, CAL= 132.1, -69.6, ROT=  17.9,  69.6

2025-06-05T17:02:31.397Z,1749142951.397 [DAT](INFO): got valid direction response:
 17:02:30.0425 LVL= 22848, 27553, 32690, 28307, AGC= 47, IDX= 503,-0.20, 1.793, 1.377, 1.656, 0.222, PHS= 1.658, 1.201, 1.430, RAW= 120.0, -75.4, CAL= 132.1, -69.6, ROT=  17.9,  69.6

2025-06-05T17:02:31.397Z,1749142951.397 [DAT](INFO): #Rx 65: Read direction message, but no range.
2025-06-05T17:02:31.398Z,1749142951.398 [DAT](INFO): direction in FSK: [0.331699,0.107136,-0.937282]
2025-06-05T17:02:31.420Z,1749142951.420 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=25.726980
2025-06-05T17:02:31.648Z,1749142951.648 [DAT](INFO): DAT read: Rx Time:17:02:30.5426 

2025-06-05T17:02:31.649Z,1749142951.649 [DAT](INFO): Rx dataTimestamp_ set to:1749142951.648116
2025-06-05T17:02:31.673Z,1749142951.673 [DAT](INFO): DAT read: Bearing  11.6,  71.3 (Local)

2025-06-05T17:02:31.674Z,1749142951.674 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.6,  71.3 (Local)

2025-06-05T17:02:31.686Z,1749142951.686 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:31.700Z,1749142951.700 [DAT](INFO): DAT read: 17:02:30.5426 LVL= 22384, 27761, 32594, 29091, AGC= 47, IDX= 504,-0.17, 2.724, 2.355, 2.666, 1.154, PHS= 1.658, 1.248, 1.508, RAW= 128.9, -77.0, CAL= 138.4, -71.3, ROT=  11.6,  71.3

2025-06-05T17:02:31.711Z,1749142951.711 [DAT](INFO): got valid direction response:
 17:02:30.5426 LVL= 22384, 27761, 32594, 29091, AGC= 47, IDX= 504,-0.17, 2.724, 2.355, 2.666, 1.154, PHS= 1.658, 1.248, 1.508, RAW= 128.9, -77.0, CAL= 138.4, -71.3, ROT=  11.6,  71.3

2025-06-05T17:02:31.751Z,1749142951.751 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-06-05T17:02:31.752Z,1749142951.752 [DAT](INFO): direction in FSK: [0.314064,0.064468,-0.947210]
2025-06-05T17:02:31.753Z,1749142951.753 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:31.792Z,1749142951.792 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=26.113094
2025-06-05T17:02:31.895Z,1749142951.895 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=26.216021
2025-06-05T17:02:32.151Z,1749142952.151 [DAT](INFO): DAT read: Rx Time:17:02:31.0425 

2025-06-05T17:02:32.152Z,1749142952.152 [DAT](INFO): Rx dataTimestamp_ set to:1749142952.151254
2025-06-05T17:02:32.155Z,1749142952.155 [DAT](INFO): DAT read: Bearing  25.3,  67.3 (Local)

2025-06-05T17:02:32.156Z,1749142952.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.3,  67.3 (Local)

2025-06-05T17:02:32.166Z,1749142952.166 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T17:02:32.168Z,1749142952.168 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-06-05T17:02:32.176Z,1749142952.176 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=26.496542
2025-06-05T17:02:32.404Z,1749142952.404 [DAT](INFO): DAT read: 17:02:31.0425 LVL= 22768, 25329, 29346, 28355, AGC= 47, IDX= 503,-0.13, 2.186, 1.703, 1.932, 0.554, PHS= 1.720, 1.196, 1.375, RAW= 109.6, -73.1, CAL= 124.7, -67.3, ROT=  25.3,  67.3

2025-06-05T17:02:32.405Z,1749142952.405 [DAT](INFO): got valid direction response:
 17:02:31.0425 LVL= 22768, 25329, 29346, 28355, AGC= 47, IDX= 503,-0.13, 2.186, 1.703, 1.932, 0.554, PHS= 1.720, 1.196, 1.375, RAW= 109.6, -73.1, CAL= 124.7, -67.3, ROT=  25.3,  67.3

2025-06-05T17:02:32.405Z,1749142952.405 [DAT](INFO): #Rx 68: Read direction message, but no range.
2025-06-05T17:02:32.407Z,1749142952.407 [DAT](INFO): direction in FSK: [0.348891,0.164920,-0.922538]
2025-06-05T17:02:32.410Z,1749142952.410 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=26.730740
2025-06-05T17:02:32.655Z,1749142952.655 [DAT](INFO): DAT read: Rx Time:17:02:31.5426 

2025-06-05T17:02:32.657Z,1749142952.657 [DAT](INFO): Rx dataTimestamp_ set to:1749142952.655885
2025-06-05T17:02:32.677Z,1749142952.677 [DAT](INFO): DAT read: Bearing  22.1,  69.9 (Local)

2025-06-05T17:02:32.677Z,1749142952.677 [DAT](INFO): Local bearing/azimuth received:
 Bearing  22.1,  69.9 (Local)

2025-06-05T17:02:32.680Z,1749142952.680 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:32.689Z,1749142952.689 [DAT](INFO): DAT read: 17:02:31.5426 LVL= 22512, 28609, 32754, 28643, AGC= 47, IDX= 504,-0.10,-3.124, 2.726, 2.978, 1.527, PHS= 1.720, 1.246, 1.448, RAW= 115.2, -75.2, CAL= 127.9, -69.9, ROT=  22.1,  69.9

2025-06-05T17:02:32.712Z,1749142952.712 [DAT](INFO): got valid direction response:
 17:02:31.5426 LVL= 22512, 28609, 32754, 28643, AGC= 47, IDX= 504,-0.10,-3.124, 2.726, 2.978, 1.527, PHS= 1.720, 1.246, 1.448, RAW= 115.2, -75.2, CAL= 127.9, -69.9, ROT=  22.1,  69.9

2025-06-05T17:02:32.713Z,1749142952.713 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-06-05T17:02:32.714Z,1749142952.714 [DAT](INFO): direction in FSK: [0.318411,0.129293,-0.939094]
2025-06-05T17:02:32.718Z,1749142952.718 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:32.722Z,1749142952.722 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=27.042637
2025-06-05T17:02:32.904Z,1749142952.904 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=27.224916
2025-06-05T17:02:33.159Z,1749142953.159 [DAT](INFO): DAT read: Rx Time:17:02:32.0425 

2025-06-05T17:02:33.160Z,1749142953.160 [DAT](INFO): Rx dataTimestamp_ set to:1749142953.159321
2025-06-05T17:02:33.165Z,1749142953.165 [DAT](INFO): DAT read: Bearing  27.9,  66.5 (Local)

2025-06-05T17:02:33.166Z,1749142953.166 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.9,  66.5 (Local)

2025-06-05T17:02:33.176Z,1749142953.176 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T17:02:33.178Z,1749142953.178 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-06-05T17:02:33.191Z,1749142953.191 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=27.511789
2025-06-05T17:02:33.411Z,1749142953.411 [DAT](INFO): DAT read: 17:02:32.0425 LVL= 22672, 27953, 32658, 28339, AGC= 47, IDX= 503,-0.07, 2.479, 1.975, 2.180, 0.827, PHS= 1.740, 1.195, 1.349, RAW= 106.0, -72.2, CAL= 122.1, -66.5, ROT=  27.9,  66.5

2025-06-05T17:02:33.412Z,1749142953.412 [DAT](INFO): got valid direction response:
 17:02:32.0425 LVL= 22672, 27953, 32658, 28339, AGC= 47, IDX= 503,-0.07, 2.479, 1.975, 2.180, 0.827, PHS= 1.740, 1.195, 1.349, RAW= 106.0, -72.2, CAL= 122.1, -66.5, ROT=  27.9,  66.5

2025-06-05T17:02:33.412Z,1749142953.412 [DAT](INFO): #Rx 71: Read direction message, but no range.
2025-06-05T17:02:33.413Z,1749142953.413 [DAT](INFO): direction in FSK: [0.352401,0.186587,-0.917060]
2025-06-05T17:02:33.447Z,1749142953.447 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=27.767731
2025-06-05T17:02:33.678Z,1749142953.678 [DAT](INFO): DAT read: Rx Time:17:02:32.5427 

2025-06-05T17:02:33.678Z,1749142953.678 [DAT](INFO): Rx dataTimestamp_ set to:1749142953.678141
2025-06-05T17:02:33.680Z,1749142953.680 [DAT](INFO): DAT read: Bearing  26.6,  69.4 (Local)

2025-06-05T17:02:33.680Z,1749142953.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.6,  69.4 (Local)

2025-06-05T17:02:33.687Z,1749142953.687 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:33.697Z,1749142953.697 [DAT](INFO): DAT read: 17:02:32.5427 LVL= 21584, 28001, 32242, 26563, AGC= 46, IDX= 504,-0.03,-2.782, 3.052,-3.016, 1.857, PHS= 1.732, 1.242, 1.407, RAW= 109.4, -74.4, CAL= 123.4, -69.4, ROT=  26.6,  69.4

2025-06-05T17:02:33.703Z,1749142953.703 [DAT](INFO): got valid direction response:
 17:02:32.5427 LVL= 21584, 28001, 32242, 26563, AGC= 46, IDX= 504,-0.03,-2.782, 3.052,-3.016, 1.857, PHS= 1.732, 1.242, 1.407, RAW= 109.4, -74.4, CAL= 123.4, -69.4, ROT=  26.6,  69.4

2025-06-05T17:02:33.704Z,1749142953.704 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-06-05T17:02:33.705Z,1749142953.705 [DAT](INFO): direction in FSK: [0.314601,0.157540,-0.936060]
2025-06-05T17:02:33.719Z,1749142953.719 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:33.734Z,1749142953.734 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=28.042843
2025-06-05T17:02:33.911Z,1749142953.911 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=28.232084
2025-06-05T17:02:34.167Z,1749142954.167 [DAT](INFO): DAT read: Rx Time:17:02:33.0426 

2025-06-05T17:02:34.168Z,1749142954.168 [DAT](INFO): Rx dataTimestamp_ set to:1749142954.167043
2025-06-05T17:02:34.173Z,1749142954.173 [DAT](INFO): DAT read: Bearing  30.2,  60.0 (Local)

2025-06-05T17:02:34.174Z,1749142954.174 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.2,  60.0 (Local)

2025-06-05T17:02:34.180Z,1749142954.180 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:34.187Z,1749142954.187 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-06-05T17:02:34.188Z,1749142954.188 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=28.508976
2025-06-05T17:02:34.421Z,1749142954.421 [DAT](INFO): DAT read: 17:02:33.0426 LVL= 26400, 23969, 28114, 31347, AGC= 48, IDX= 503, 0.02, 2.862, 2.230, 2.385, 1.154, PHS= 1.796, 1.123, 1.229, RAW=  98.4, -66.8, CAL= 119.8, -60.0, ROT=  30.2,  60.0

2025-06-05T17:02:34.422Z,1749142954.422 [DAT](INFO): got valid direction response:
 17:02:33.0426 LVL= 26400, 23969, 28114, 31347, AGC= 48, IDX= 503, 0.02, 2.862, 2.230, 2.385, 1.154, PHS= 1.796, 1.123, 1.229, RAW=  98.4, -66.8, CAL= 119.8, -60.0, ROT=  30.2,  60.0

2025-06-05T17:02:34.423Z,1749142954.423 [DAT](INFO): #Rx 74: Read direction message, but no range.
2025-06-05T17:02:34.424Z,1749142954.424 [DAT](INFO): direction in FSK: [0.432137,0.251510,-0.866025]
2025-06-05T17:02:34.427Z,1749142954.427 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=28.747927
2025-06-05T17:02:34.671Z,1749142954.671 [DAT](INFO): DAT read: Rx Time:17:02:33.5428 

2025-06-05T17:02:34.672Z,1749142954.672 [DAT](INFO): Rx dataTimestamp_ set to:1749142954.671391
2025-06-05T17:02:34.676Z,1749142954.676 [DAT](INFO): DAT read: Bearing  27.5,  59.8 (Local)

2025-06-05T17:02:34.677Z,1749142954.677 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.5,  59.8 (Local)

2025-06-05T17:02:34.679Z,1749142954.679 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:34.680Z,1749142954.680 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-06-05T17:02:34.681Z,1749142954.681 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=29.001453
2025-06-05T17:02:34.924Z,1749142954.924 [DAT](INFO): DAT read: 17:02:33.5428 LVL= 26832, 26225, 30642, 31411, AGC= 48, IDX= 504, 0.07,-2.292,-2.929,-2.732, 2.304, PHS= 1.775, 1.098, 1.244, RAW= 101.9, -67.0, CAL= 122.5, -59.8, ROT=  27.5,  59.8

2025-06-05T17:02:34.926Z,1749142954.926 [DAT](INFO): got valid direction response:
 17:02:33.5428 LVL= 26832, 26225, 30642, 31411, AGC= 48, IDX= 504, 0.07,-2.292,-2.929,-2.732, 2.304, PHS= 1.775, 1.098, 1.244, RAW= 101.9, -67.0, CAL= 122.5, -59.8, ROT=  27.5,  59.8

2025-06-05T17:02:34.927Z,1749142954.927 [DAT](INFO): #Rx 76: Read direction message, but no range.
2025-06-05T17:02:34.929Z,1749142954.929 [DAT](INFO): direction in FSK: [0.446184,0.232269,-0.864275]
2025-06-05T17:02:34.935Z,1749142954.935 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=29.255388
2025-06-05T17:02:35.176Z,1749142955.176 [DAT](INFO): DAT read: Rx Time:17:02:34.0421 

2025-06-05T17:02:35.177Z,1749142955.177 [DAT](INFO): Rx dataTimestamp_ set to:1749142955.177101
2025-06-05T17:02:35.179Z,1749142955.179 [DAT](INFO): DAT read: Bearing  35.8,  57.1 (Local)

2025-06-05T17:02:35.179Z,1749142955.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.8,  57.1 (Local)

2025-06-05T17:02:35.181Z,1749142955.181 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T17:02:35.186Z,1749142955.186 [DAT](INFO): DAT read: 17:02:34.0421 LVL= 24464, 23025, 26802, 27187, AGC= 47, IDX= 503, 0.11,-2.933, 2.605, 2.700, 1.573, PHS= 1.865, 1.079, 1.123, RAW=  92.9, -62.0, CAL= 114.2, -57.1, ROT=  35.8,  57.1

2025-06-05T17:02:35.205Z,1749142955.205 [DAT](INFO): got valid direction response:
 17:02:34.0421 LVL= 24464, 23025, 26802, 27187, AGC= 47, IDX= 503, 0.11,-2.933, 2.605, 2.700, 1.573, PHS= 1.865, 1.079, 1.123, RAW=  92.9, -62.0, CAL= 114.2, -57.1, ROT=  35.8,  57.1

2025-06-05T17:02:35.205Z,1749142955.205 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-05T17:02:35.223Z,1749142955.223 [DAT](INFO): direction in FSK: [0.440549,0.317734,-0.839620]
2025-06-05T17:02:35.223Z,1749142955.223 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:35.231Z,1749142955.231 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=29.552370
2025-06-05T17:02:35.424Z,1749142955.424 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=29.744776
2025-06-05T17:02:35.678Z,1749142955.678 [DAT](INFO): DAT read: Rx Time:17:02:34.5428 

2025-06-05T17:02:35.678Z,1749142955.678 [DAT](INFO): Rx dataTimestamp_ set to:1749142955.678164
2025-06-05T17:02:35.680Z,1749142955.680 [DAT](INFO): DAT read: Bearing  34.1,  57.1 (Local)

2025-06-05T17:02:35.680Z,1749142955.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.1,  57.1 (Local)

2025-06-05T17:02:35.688Z,1749142955.688 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:35.693Z,1749142955.693 [DAT](INFO): DAT read: 17:02:34.5428 LVL= 24160, 22625, 26978, 26595, AGC= 47, IDX= 504, 0.17,-1.973,-2.713,-2.588, 2.566, PHS= 1.832, 1.052, 1.126, RAW=  94.9, -62.2, CAL= 115.9, -57.1, ROT=  34.1,  57.1

2025-06-05T17:02:35.694Z,1749142955.694 [DAT](INFO): got valid direction response:
 17:02:34.5428 LVL= 24160, 22625, 26978, 26595, AGC= 47, IDX= 504, 0.17,-1.973,-2.713,-2.588, 2.566, PHS= 1.832, 1.052, 1.126, RAW=  94.9, -62.2, CAL= 115.9, -57.1, ROT=  34.1,  57.1

2025-06-05T17:02:35.694Z,1749142955.694 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-05T17:02:35.695Z,1749142955.695 [DAT](INFO): direction in FSK: [0.449781,0.304525,-0.839620]
2025-06-05T17:02:35.696Z,1749142955.696 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:35.715Z,1749142955.715 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=30.036047
2025-06-05T17:02:35.927Z,1749142955.927 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=30.248018
2025-06-05T17:02:36.184Z,1749142956.184 [DAT](INFO): DAT read: Rx Time:17:02:35.0427 

2025-06-05T17:02:36.185Z,1749142956.185 [DAT](INFO): Rx dataTimestamp_ set to:1749142956.184502
2025-06-05T17:02:36.186Z,1749142956.186 [DAT](INFO): DAT read: Bearing  33.2,  57.5 (Local)

2025-06-05T17:02:36.186Z,1749142956.186 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.2,  57.5 (Local)

2025-06-05T17:02:36.188Z,1749142956.188 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:36.189Z,1749142956.189 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-06-05T17:02:36.190Z,1749142956.190 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=30.510649
2025-06-05T17:02:36.436Z,1749142956.436 [DAT](INFO): DAT read: 17:02:35.0427 LVL= 23328, 22353, 25922, 25907, AGC= 47, IDX= 503, 0.23, 2.998, 2.275, 2.410, 1.268, PHS= 1.818, 1.055, 1.140, RAW=  95.8, -62.9, CAL= 116.8, -57.5, ROT=  33.2,  57.5

2025-06-05T17:02:36.437Z,1749142956.437 [DAT](INFO): got valid direction response:
 17:02:35.0427 LVL= 23328, 22353, 25922, 25907, AGC= 47, IDX= 503, 0.23, 2.998, 2.275, 2.410, 1.268, PHS= 1.818, 1.055, 1.140, RAW=  95.8, -62.9, CAL= 116.8, -57.5, ROT=  33.2,  57.5

2025-06-05T17:02:36.438Z,1749142956.438 [DAT](INFO): #Rx 80: Read direction message, but no range.
2025-06-05T17:02:36.455Z,1749142956.455 [DAT](INFO): direction in FSK: [0.449593,0.294205,-0.843391]
2025-06-05T17:02:36.458Z,1749142956.458 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=30.779129
2025-06-05T17:02:36.685Z,1749142956.685 [DAT](INFO): DAT read: Rx Time:17:02:35.5427 

2025-06-05T17:02:36.686Z,1749142956.686 [DAT](INFO): Rx dataTimestamp_ set to:1749142956.685298
2025-06-05T17:02:36.692Z,1749142956.692 [DAT](INFO): DAT read: Bearing  28.9,  63.0 (Local)

2025-06-05T17:02:36.692Z,1749142956.692 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.9,  63.0 (Local)

2025-06-05T17:02:36.694Z,1749142956.694 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:36.703Z,1749142956.703 [DAT](INFO): DAT read: 17:02:35.5427 LVL= 20736, 24049, 28946, 22675, AGC= 46, IDX= 503, 0.27, 2.789, 2.214, 2.402, 1.108, PHS= 1.769, 1.152, 1.291, RAW= 102.3, -69.4, CAL= 121.1, -63.0, ROT=  28.9,  63.0

2025-06-05T17:02:36.704Z,1749142956.704 [DAT](INFO): got valid direction response:
 17:02:35.5427 LVL= 20736, 24049, 28946, 22675, AGC= 46, IDX= 503, 0.27, 2.789, 2.214, 2.402, 1.108, PHS= 1.769, 1.152, 1.291, RAW= 102.3, -69.4, CAL= 121.1, -63.0, ROT=  28.9,  63.0

2025-06-05T17:02:36.704Z,1749142956.704 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-06-05T17:02:36.705Z,1749142956.705 [DAT](INFO): direction in FSK: [0.397453,0.219406,-0.891007]
2025-06-05T17:02:36.705Z,1749142956.705 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:36.709Z,1749142956.709 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=31.030134
2025-06-05T17:02:36.935Z,1749142956.935 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=31.256199
2025-06-05T17:02:37.188Z,1749142957.188 [DAT](INFO): DAT read: Rx Time:17:02:36.0426 

2025-06-05T17:02:37.188Z,1749142957.188 [DAT](INFO): Rx dataTimestamp_ set to:1749142957.187898
2025-06-05T17:02:37.189Z,1749142957.189 [DAT](INFO): DAT read: Bearing  27.8,  61.3 (Local)

2025-06-05T17:02:37.190Z,1749142957.190 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.8,  61.3 (Local)

2025-06-05T17:02:37.192Z,1749142957.192 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.1

2025-06-05T17:02:37.196Z,1749142957.196 [DAT](INFO): DAT read: 17:02:36.0426 LVL= 22000, 23841, 28786, 25971, AGC= 47, IDX= 502, 0.35, 1.454, 0.843, 1.040,-0.241, PHS= 1.782, 1.131, 1.277, RAW= 102.4, -68.2, CAL= 122.2, -61.3, ROT=  27.8,  61.3

2025-06-05T17:02:37.197Z,1749142957.197 [DAT](INFO): got valid direction response:
 17:02:36.0426 LVL= 22000, 23841, 28786, 25971, AGC= 47, IDX= 502, 0.35, 1.454, 0.843, 1.040,-0.241, PHS= 1.782, 1.131, 1.277, RAW= 102.4, -68.2, CAL= 122.2, -61.3, ROT=  27.8,  61.3

2025-06-05T17:02:37.198Z,1749142957.198 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-06-05T17:02:37.199Z,1749142957.199 [DAT](INFO): direction in FSK: [0.424797,0.223970,-0.877146]
2025-06-05T17:02:37.199Z,1749142957.199 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:37.208Z,1749142957.208 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=31.528797
2025-06-05T17:02:37.439Z,1749142957.439 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=31.760277
2025-06-05T17:02:37.692Z,1749142957.692 [DAT](INFO): DAT read: Rx Time:17:02:36.5428 

2025-06-05T17:02:37.692Z,1749142957.692 [DAT](INFO): Rx dataTimestamp_ set to:1749142957.692016
2025-06-05T17:02:37.694Z,1749142957.694 [DAT](INFO): DAT read: Bearing  27.1,  59.8 (Local)

2025-06-05T17:02:37.694Z,1749142957.694 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.1,  59.8 (Local)

2025-06-05T17:02:37.696Z,1749142957.696 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:37.703Z,1749142957.703 [DAT](INFO): DAT read: 17:02:36.5428 LVL= 20048, 20945, 22818, 23539, AGC= 46, IDX= 503, 0.42, 2.388, 1.754, 1.957, 0.719, PHS= 1.757, 1.082, 1.235, RAW= 102.5, -67.0, CAL= 122.9, -59.8, ROT=  27.1,  59.8

2025-06-05T17:02:37.704Z,1749142957.704 [DAT](INFO): got valid direction response:
 17:02:36.5428 LVL= 20048, 20945, 22818, 23539, AGC= 46, IDX= 503, 0.42, 2.388, 1.754, 1.957, 0.719, PHS= 1.757, 1.082, 1.235, RAW= 102.5, -67.0, CAL= 122.9, -59.8, ROT=  27.1,  59.8

2025-06-05T17:02:37.705Z,1749142957.705 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-06-05T17:02:37.716Z,1749142957.716 [DAT](INFO): direction in FSK: [0.447795,0.229148,-0.864275]
2025-06-05T17:02:37.716Z,1749142957.716 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:37.723Z,1749142957.723 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=32.044132
2025-06-05T17:02:37.943Z,1749142957.943 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=32.263908
2025-06-05T17:02:38.198Z,1749142958.198 [DAT](INFO): DAT read: Rx Time:17:02:37.0427 

2025-06-05T17:02:38.199Z,1749142958.199 [DAT](INFO): Rx dataTimestamp_ set to:1749142958.198248
2025-06-05T17:02:38.200Z,1749142958.200 [DAT](INFO): DAT read: Bearing   0.4,  64.2 (Local)

2025-06-05T17:02:38.200Z,1749142958.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  64.2 (Local)

2025-06-05T17:02:38.202Z,1749142958.202 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:38.207Z,1749142958.207 [DAT](INFO): DAT read: 17:02:37.0427 LVL= 20080, 21201, 22834, 23907, AGC= 46, IDX= 503,-0.47,-0.388,-0.845,-0.385,-1.895, PHS= 1.594, 1.097, 1.506, RAW= 140.5, -72.8, CAL= 149.6, -64.2, ROT=   0.4,  64.2

2025-06-05T17:02:38.208Z,1749142958.208 [DAT](INFO): got valid direction response:
 17:02:37.0427 LVL= 20080, 21201, 22834, 23907, AGC= 46, IDX= 503,-0.47,-0.388,-0.845,-0.385,-1.895, PHS= 1.594, 1.097, 1.506, RAW= 140.5, -72.8, CAL= 149.6, -64.2, ROT=   0.4,  64.2

2025-06-05T17:02:38.208Z,1749142958.208 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-06-05T17:02:38.209Z,1749142958.209 [DAT](INFO): direction in FSK: [0.435221,0.003038,-0.900319]
2025-06-05T17:02:38.209Z,1749142958.209 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:38.245Z,1749142958.245 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=32.566017
2025-06-05T17:02:38.449Z,1749142958.449 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=32.769409
2025-06-05T17:02:38.701Z,1749142958.701 [DAT](INFO): DAT read: Rx Time:17:02:37.5428 

2025-06-05T17:02:38.701Z,1749142958.701 [DAT](INFO): Rx dataTimestamp_ set to:1749142958.700749
2025-06-05T17:02:38.702Z,1749142958.702 [DAT](INFO): DAT read: Bearing 355.4,  62.0 (Local)

2025-06-05T17:02:38.703Z,1749142958.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.4,  62.0 (Local)

2025-06-05T17:02:38.705Z,1749142958.705 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:38.709Z,1749142958.709 [DAT](INFO): DAT read: 17:02:37.5428 LVL= 22672, 22769, 23058, 28019, AGC= 47, IDX= 504,-0.40, 0.643, 0.163, 0.701,-0.877, PHS= 1.607, 1.087, 1.574, RAW= 146.8, -71.5, CAL= 154.6, -62.0, ROT= 355.4,  62.0

2025-06-05T17:02:38.714Z,1749142958.714 [DAT](INFO): got valid direction response:
 17:02:37.5428 LVL= 22672, 22769, 23058, 28019, AGC= 47, IDX= 504,-0.40, 0.643, 0.163, 0.701,-0.877, PHS= 1.607, 1.087, 1.574, RAW= 146.8, -71.5, CAL= 154.6, -62.0, ROT= 355.4,  62.0

2025-06-05T17:02:38.715Z,1749142958.715 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-06-05T17:02:38.717Z,1749142958.717 [DAT](INFO): direction in FSK: [0.467959,-0.037651,-0.882948]
2025-06-05T17:02:38.717Z,1749142958.717 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:38.721Z,1749142958.721 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=33.042133
2025-06-05T17:02:38.956Z,1749142958.956 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=33.277344
2025-06-05T17:02:39.208Z,1749142959.208 [DAT](INFO): DAT read: Rx Time:17:02:38.0427 

2025-06-05T17:02:39.208Z,1749142959.208 [DAT](INFO): Rx dataTimestamp_ set to:1749142959.208013
2025-06-05T17:02:39.210Z,1749142959.210 [DAT](INFO): DAT read: Bearing 340.3,  58.8 (Local)

2025-06-05T17:02:39.210Z,1749142959.210 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.3,  58.8 (Local)

2025-06-05T17:02:39.212Z,1749142959.212 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:39.217Z,1749142959.217 [DAT](INFO): DAT read: 17:02:38.0427 LVL= 24512, 23409, 21602, 31939, AGC= 48, IDX= 503,-0.29,-1.466,-1.885,-1.155,-2.869, PHS= 1.491, 1.031, 1.711, RAW= 168.5, -68.1, CAL= 169.7, -58.8, ROT= 340.3,  58.8

2025-06-05T17:02:39.218Z,1749142959.218 [DAT](INFO): got valid direction response:
 17:02:38.0427 LVL= 24512, 23409, 21602, 31939, AGC= 48, IDX= 503,-0.29,-1.466,-1.885,-1.155,-2.869, PHS= 1.491, 1.031, 1.711, RAW= 168.5, -68.1, CAL= 169.7, -58.8, ROT= 340.3,  58.8

2025-06-05T17:02:39.218Z,1749142959.218 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-06-05T17:02:39.219Z,1749142959.219 [DAT](INFO): direction in FSK: [0.487707,-0.174624,-0.855364]
2025-06-05T17:02:39.219Z,1749142959.219 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:39.224Z,1749142959.224 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=33.544685
2025-06-05T17:02:39.459Z,1749142959.459 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=33.780075
2025-06-05T17:02:39.712Z,1749142959.712 [DAT](INFO): DAT read: Rx Time:17:02:38.5428 

2025-06-05T17:02:39.712Z,1749142959.712 [DAT](INFO): Rx dataTimestamp_ set to:1749142959.711747
2025-06-05T17:02:39.713Z,1749142959.713 [DAT](INFO): DAT read: Bearing 339.5,  66.5 (Local)

2025-06-05T17:02:39.714Z,1749142959.714 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.5,  66.5 (Local)

2025-06-05T17:02:39.721Z,1749142959.721 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:39.728Z,1749142959.728 [DAT](INFO): DAT read: 17:02:38.5428 LVL= 18608, 20369, 20626, 25891, AGC= 46, IDX= 504,-0.30, 0.162,-0.107, 0.417,-1.222, PHS= 1.472, 1.161, 1.636, RAW= 169.9, -74.5, CAL= 170.5, -66.5, ROT= 339.5,  66.5

2025-06-05T17:02:39.729Z,1749142959.729 [DAT](INFO): got valid direction response:
 17:02:38.5428 LVL= 18608, 20369, 20626, 25891, AGC= 46, IDX= 504,-0.30, 0.162,-0.107, 0.417,-1.222, PHS= 1.472, 1.161, 1.636, RAW= 169.9, -74.5, CAL= 170.5, -66.5, ROT= 339.5,  66.5

2025-06-05T17:02:39.732Z,1749142959.732 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-06-05T17:02:39.734Z,1749142959.734 [DAT](INFO): direction in FSK: [0.373497,-0.139645,-0.917060]
2025-06-05T17:02:39.735Z,1749142959.735 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:39.758Z,1749142959.758 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=34.079346
2025-06-05T17:02:39.964Z,1749142959.964 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=34.284523
2025-06-05T17:02:40.217Z,1749142960.217 [DAT](INFO): DAT read: Rx Time:17:02:39.0427 

2025-06-05T17:02:40.217Z,1749142960.217 [DAT](INFO): Rx dataTimestamp_ set to:1749142960.216835
2025-06-05T17:02:40.219Z,1749142960.219 [DAT](INFO): DAT read: Bearing 356.2,  66.5 (Local)

2025-06-05T17:02:40.219Z,1749142960.219 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,  66.5 (Local)

2025-06-05T17:02:40.221Z,1749142960.221 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:40.226Z,1749142960.226 [DAT](INFO): DAT read: 17:02:39.0427 LVL= 22560, 22417, 20610, 32227, AGC= 48, IDX= 503,-0.21,-1.199,-1.558,-1.132,-2.566, PHS= 1.455, 1.056, 1.431, RAW= 146.9, -74.4, CAL= 153.8, -66.5, ROT= 356.2,  66.5

2025-06-05T17:02:40.248Z,1749142960.248 [DAT](INFO): got valid direction response:
 17:02:39.0427 LVL= 22560, 22417, 20610, 32227, AGC= 48, IDX= 503,-0.21,-1.199,-1.558,-1.132,-2.566, PHS= 1.455, 1.056, 1.431, RAW= 146.9, -74.4, CAL= 153.8, -66.5, ROT= 356.2,  66.5

2025-06-05T17:02:40.248Z,1749142960.248 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-06-05T17:02:40.249Z,1749142960.249 [DAT](INFO): direction in FSK: [0.397872,-0.026427,-0.917060]
2025-06-05T17:02:40.249Z,1749142960.249 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:40.253Z,1749142960.253 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=34.573650
2025-06-05T17:02:40.468Z,1749142960.468 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=34.789158
2025-06-05T17:02:40.720Z,1749142960.720 [DAT](INFO): DAT read: Rx Time:17:02:39.5428 

2025-06-05T17:02:40.720Z,1749142960.720 [DAT](INFO): Rx dataTimestamp_ set to:1749142960.719910
2025-06-05T17:02:40.721Z,1749142960.721 [DAT](INFO): DAT read: Bearing 351.4,  67.4 (Local)

2025-06-05T17:02:40.722Z,1749142960.722 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.4,  67.4 (Local)

2025-06-05T17:02:40.724Z,1749142960.724 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:40.728Z,1749142960.728 [DAT](INFO): DAT read: 17:02:39.5428 LVL= 23024, 21809, 21170, 32755, AGC= 48, IDX= 503,-0.16,-1.485,-1.798,-1.367,-2.817, PHS= 1.420, 1.066, 1.447, RAW= 153.7, -75.2, CAL= 158.6, -67.4, ROT= 351.4,  67.4

2025-06-05T17:02:40.729Z,1749142960.729 [DAT](INFO): got valid direction response:
 17:02:39.5428 LVL= 23024, 21809, 21170, 32755, AGC= 48, IDX= 503,-0.16,-1.485,-1.798,-1.367,-2.817, PHS= 1.420, 1.066, 1.447, RAW= 153.7, -75.2, CAL= 158.6, -67.4, ROT= 351.4,  67.4

2025-06-05T17:02:40.730Z,1749142960.730 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-06-05T17:02:40.731Z,1749142960.731 [DAT](INFO): direction in FSK: [0.379974,-0.057466,-0.923210]
2025-06-05T17:02:40.731Z,1749142960.731 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:40.736Z,1749142960.736 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=35.057308
2025-06-05T17:02:40.971Z,1749142960.971 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=35.292088
2025-06-05T17:02:41.224Z,1749142961.224 [DAT](INFO): DAT read: Rx Time:17:02:40.0427 

2025-06-05T17:02:41.225Z,1749142961.225 [DAT](INFO): Rx dataTimestamp_ set to:1749142961.224212
2025-06-05T17:02:41.226Z,1749142961.226 [DAT](INFO): DAT read: Bearing  19.2,  70.2 (Local)

2025-06-05T17:02:41.226Z,1749142961.226 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.2,  70.2 (Local)

2025-06-05T17:02:41.228Z,1749142961.228 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:41.234Z,1749142961.234 [DAT](INFO): DAT read: 17:02:40.0427 LVL= 23024, 21841, 20626, 32547, AGC= 48, IDX= 502,-0.13,-2.157,-2.505,-2.268, 2.774, PHS= 1.440, 1.052, 1.239, RAW= 118.8, -75.7, CAL= 130.8, -70.2, ROT=  19.2,  70.2

2025-06-05T17:02:41.235Z,1749142961.235 [DAT](INFO): got valid direction response:
 17:02:40.0427 LVL= 23024, 21841, 20626, 32547, AGC= 48, IDX= 502,-0.13,-2.157,-2.505,-2.268, 2.774, PHS= 1.440, 1.052, 1.239, RAW= 118.8, -75.7, CAL= 130.8, -70.2, ROT=  19.2,  70.2

2025-06-05T17:02:41.235Z,1749142961.235 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-05T17:02:41.236Z,1749142961.236 [DAT](INFO): direction in FSK: [0.319896,0.111400,-0.940881]
2025-06-05T17:02:41.237Z,1749142961.237 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:41.243Z,1749142961.243 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=35.563545
2025-06-05T17:02:41.478Z,1749142961.478 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=35.798824
2025-06-05T17:02:41.730Z,1749142961.730 [DAT](INFO): DAT read: Rx Time:17:02:40.5428 

2025-06-05T17:02:41.730Z,1749142961.730 [DAT](INFO): Rx dataTimestamp_ set to:1749142961.729747
2025-06-05T17:02:41.731Z,1749142961.731 [DAT](INFO): DAT read: Bearing   7.9,  67.9 (Local)

2025-06-05T17:02:41.732Z,1749142961.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.9,  67.9 (Local)

2025-06-05T17:02:41.735Z,1749142961.735 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:41.746Z,1749142961.746 [DAT](INFO): DAT read: 17:02:40.5428 LVL= 23072, 21937, 20002, 31539, AGC= 48, IDX= 503,-0.09,-1.307,-1.667,-1.343,-2.635, PHS= 1.415, 1.015, 1.289, RAW= 132.0, -74.9, CAL= 142.1, -67.9, ROT=   7.9,  67.9

2025-06-05T17:02:41.760Z,1749142961.760 [DAT](INFO): got valid direction response:
 17:02:40.5428 LVL= 23072, 21937, 20002, 31539, AGC= 48, IDX= 503,-0.09,-1.307,-1.667,-1.343,-2.635, PHS= 1.415, 1.015, 1.289, RAW= 132.0, -74.9, CAL= 142.1, -67.9, ROT=   7.9,  67.9

2025-06-05T17:02:41.761Z,1749142961.761 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-06-05T17:02:41.763Z,1749142961.763 [DAT](INFO): direction in FSK: [0.372654,0.051710,-0.926529]
2025-06-05T17:02:41.764Z,1749142961.764 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:41.769Z,1749142961.769 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=36.089607
2025-06-05T17:02:41.979Z,1749142961.979 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=36.299999
2025-06-05T17:02:42.232Z,1749142962.232 [DAT](INFO): DAT read: Rx Time:17:02:41.0427 

2025-06-05T17:02:42.233Z,1749142962.233 [DAT](INFO): Rx dataTimestamp_ set to:1749142962.232394
2025-06-05T17:02:42.235Z,1749142962.235 [DAT](INFO): DAT read: Bearing  37.2,  63.7 (Local)

2025-06-05T17:02:42.235Z,1749142962.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.2,  63.7 (Local)

2025-06-05T17:02:42.237Z,1749142962.237 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:42.242Z,1749142962.242 [DAT](INFO): DAT read: 17:02:41.0427 LVL= 22240, 21201, 19378, 30515, AGC= 48, IDX= 502,-0.06,-2.169,-2.606,-2.530, 2.764, PHS= 1.438, 0.960, 0.986, RAW=  92.8, -68.7, CAL= 112.8, -63.7, ROT=  37.2,  63.7

2025-06-05T17:02:42.243Z,1749142962.243 [DAT](INFO): got valid direction response:
 17:02:41.0427 LVL= 22240, 21201, 19378, 30515, AGC= 48, IDX= 502,-0.06,-2.169,-2.606,-2.530, 2.764, PHS= 1.438, 0.960, 0.986, RAW=  92.8, -68.7, CAL= 112.8, -63.7, ROT=  37.2,  63.7

2025-06-05T17:02:42.244Z,1749142962.244 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-06-05T17:02:42.245Z,1749142962.245 [DAT](INFO): direction in FSK: [0.352919,0.267880,-0.896486]
2025-06-05T17:02:42.245Z,1749142962.245 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:42.249Z,1749142962.249 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=36.569550
2025-06-05T17:02:42.484Z,1749142962.484 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=36.805309
2025-06-05T17:02:42.736Z,1749142962.736 [DAT](INFO): DAT read: Rx Time:17:02:41.5428 

2025-06-05T17:02:42.737Z,1749142962.737 [DAT](INFO): Rx dataTimestamp_ set to:1749142962.736245
2025-06-05T17:02:42.738Z,1749142962.738 [DAT](INFO): DAT read: Bearing  37.4,  61.5 (Local)

2025-06-05T17:02:42.739Z,1749142962.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.4,  61.5 (Local)

2025-06-05T17:02:42.741Z,1749142962.741 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:42.751Z,1749142962.751 [DAT](INFO): DAT read: 17:02:41.5428 LVL= 20560, 19633, 17010, 26771, AGC= 47, IDX= 503,-0.02,-1.246,-1.697,-1.639,-2.559, PHS= 1.401, 0.909, 0.917, RAW=  90.8, -66.8, CAL= 112.6, -61.5, ROT=  37.4,  61.5

2025-06-05T17:02:42.752Z,1749142962.752 [DAT](INFO): got valid direction response:
 17:02:41.5428 LVL= 20560, 19633, 17010, 26771, AGC= 47, IDX= 503,-0.02,-1.246,-1.697,-1.639,-2.559, PHS= 1.401, 0.909, 0.917, RAW=  90.8, -66.8, CAL= 112.6, -61.5, ROT=  37.4,  61.5

2025-06-05T17:02:42.753Z,1749142962.753 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-06-05T17:02:42.754Z,1749142962.754 [DAT](INFO): direction in FSK: [0.379062,0.289815,-0.878817]
2025-06-05T17:02:42.758Z,1749142962.758 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:42.803Z,1749142962.803 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=37.123928
2025-06-05T17:02:42.988Z,1749142962.988 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=37.309132
2025-06-05T17:02:43.240Z,1749142963.240 [DAT](INFO): DAT read: Rx Time:17:02:42.0427 

2025-06-05T17:02:43.240Z,1749142963.240 [DAT](INFO): Rx dataTimestamp_ set to:1749142963.239803
2025-06-05T17:02:43.241Z,1749142963.241 [DAT](INFO): DAT read: Bearing  55.9,  54.8 (Local)

2025-06-05T17:02:43.242Z,1749142963.242 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.9,  54.8 (Local)

2025-06-05T17:02:43.244Z,1749142963.244 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed -0.1

2025-06-05T17:02:43.249Z,1749142963.249 [DAT](INFO): DAT read: 17:02:42.0427 LVL= 22176, 21553, 19538, 28563, AGC= 48, IDX= 502, 0.02,-1.819,-2.338,-2.563, 3.091, PHS= 1.461, 0.901, 0.626, RAW=  71.1, -55.1, CAL=  94.1, -54.8, ROT=  55.9,  54.8

2025-06-05T17:02:43.251Z,1749142963.251 [DAT](INFO): got valid direction response:
 17:02:42.0427 LVL= 22176, 21553, 19538, 28563, AGC= 48, IDX= 502, 0.02,-1.819,-2.338,-2.563, 3.091, PHS= 1.461, 0.901, 0.626, RAW=  71.1, -55.1, CAL=  94.1, -54.8, ROT=  55.9,  54.8

2025-06-05T17:02:43.251Z,1749142963.251 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-06-05T17:02:43.252Z,1749142963.252 [DAT](INFO): direction in FSK: [0.323170,0.477321,-0.817145]
2025-06-05T17:02:43.253Z,1749142963.253 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:43.261Z,1749142963.261 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=37.581024
2025-06-05T17:02:43.496Z,1749142963.496 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=37.814339
2025-06-05T17:02:43.691Z,1749142963.691 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250605090359 +10.3,   0.0,1491

2025-06-05T17:02:43.744Z,1749142963.744 [DAT](INFO): DAT read: Rx Time:17:02:42.5429 

2025-06-05T17:02:43.744Z,1749142963.744 [DAT](INFO): Rx dataTimestamp_ set to:1749142963.744033
2025-06-05T17:02:43.746Z,1749142963.746 [DAT](INFO): DAT read: Bearing  44.1,  58.2 (Local)

2025-06-05T17:02:43.752Z,1749142963.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing  44.1,  58.2 (Local)

2025-06-05T17:02:43.754Z,1749142963.754 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-05T17:02:43.759Z,1749142963.759 [DAT](INFO): DAT read: 17:02:42.5429 LVL= 17616, 19857, 16610, 22179, AGC= 46, IDX= 503, 0.04,-0.007,-0.536,-0.579,-1.430, PHS= 1.512, 0.942, 0.848, RAW=  82.5, -61.9, CAL= 105.9, -58.2, ROT=  44.1,  58.2

2025-06-05T17:02:43.760Z,1749142963.760 [DAT](INFO): got valid direction response:
 17:02:42.5429 LVL= 17616, 19857, 16610, 22179, AGC= 46, IDX= 503, 0.04,-0.007,-0.536,-0.579,-1.430, PHS= 1.512, 0.942, 0.848, RAW=  82.5, -61.9, CAL= 105.9, -58.2, ROT=  44.1,  58.2

2025-06-05T17:02:43.760Z,1749142963.760 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-06-05T17:02:43.761Z,1749142963.761 [DAT](INFO): direction in FSK: [0.378421,0.366715,-0.849893]
2025-06-05T17:02:43.762Z,1749142963.762 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:43.766Z,1749142963.766 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=38.086601
2025-06-05T17:02:43.995Z,1749142963.995 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=38.316216
2025-06-05T17:02:44.249Z,1749142964.249 [DAT](INFO): DAT read: Rx Time:17:02:43.0428 

2025-06-05T17:02:44.250Z,1749142964.250 [DAT](INFO): Rx dataTimestamp_ set to:1749142964.249388
2025-06-05T17:02:44.252Z,1749142964.252 [DAT](INFO): DAT read: Bearing  32.5,  60.4 (Local)

2025-06-05T17:02:44.252Z,1749142964.252 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.5,  60.4 (Local)

2025-06-05T17:02:44.254Z,1749142964.254 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:44.259Z,1749142964.259 [DAT](INFO): DAT read: 17:02:43.0428 LVL= 19600, 20321, 17474, 24371, AGC= 46, IDX= 502, 0.09,-1.253,-1.752,-1.642,-2.631, PHS= 1.466, 0.926, 0.986, RAW=  95.8, -66.8, CAL= 117.5, -60.4, ROT=  32.5,  60.4

2025-06-05T17:02:44.260Z,1749142964.260 [DAT](INFO): got valid direction response:
 17:02:43.0428 LVL= 19600, 20321, 17474, 24371, AGC= 46, IDX= 502, 0.09,-1.253,-1.752,-1.642,-2.631, PHS= 1.466, 0.926, 0.986, RAW=  95.8, -66.8, CAL= 117.5, -60.4, ROT=  32.5,  60.4

2025-06-05T17:02:44.260Z,1749142964.260 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-06-05T17:02:44.261Z,1749142964.261 [DAT](INFO): direction in FSK: [0.416586,0.265395,-0.869495]
2025-06-05T17:02:44.261Z,1749142964.261 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:44.265Z,1749142964.265 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=38.586151
2025-06-05T17:02:44.503Z,1749142964.503 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=38.822937
2025-06-05T17:02:44.752Z,1749142964.752 [DAT](INFO): DAT read: Rx Time:17:02:43.5428 

2025-06-05T17:02:44.753Z,1749142964.753 [DAT](INFO): Rx dataTimestamp_ set to:1749142964.752284
2025-06-05T17:02:44.754Z,1749142964.754 [DAT](INFO): DAT read: Bearing  42.4,  55.5 (Local)

2025-06-05T17:02:44.754Z,1749142964.754 [DAT](INFO): Local bearing/azimuth received:
 Bearing  42.4,  55.5 (Local)

2025-06-05T17:02:44.756Z,1749142964.756 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:44.761Z,1749142964.761 [DAT](INFO): DAT read: 17:02:43.5428 LVL= 19776, 19569, 15986, 22883, AGC= 46, IDX= 502, 0.13,-1.393,-1.994,-2.004,-2.800, PHS= 1.495, 0.853, 0.793, RAW=  85.6, -58.7, CAL= 107.6, -55.5, ROT=  42.4,  55.5

2025-06-05T17:02:44.762Z,1749142964.762 [DAT](INFO): got valid direction response:
 17:02:43.5428 LVL= 19776, 19569, 15986, 22883, AGC= 46, IDX= 502, 0.13,-1.393,-1.994,-2.004,-2.800, PHS= 1.495, 0.853, 0.793, RAW=  85.6, -58.7, CAL= 107.6, -55.5, ROT=  42.4,  55.5

2025-06-05T17:02:44.762Z,1749142964.762 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-06-05T17:02:44.763Z,1749142964.763 [DAT](INFO): direction in FSK: [0.418266,0.381929,-0.824126]
2025-06-05T17:02:44.764Z,1749142964.764 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:44.769Z,1749142964.769 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=39.089542
2025-06-05T17:02:44.886Z,1749142964.886 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060509040, +10.3,   0.0,1491.1,  0
2025-06-05T17:02:45.005Z,1749142965.005 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=39.326351
2025-06-05T17:02:45.256Z,1749142965.256 [DAT](INFO): DAT read: Rx Time:17:02:44.0427 

2025-06-05T17:02:45.256Z,1749142965.256 [DAT](INFO): Rx dataTimestamp_ set to:1749142965.256010
2025-06-05T17:02:45.258Z,1749142965.258 [DAT](INFO): DAT read: Bearing  39.8,  55.5 (Local)

2025-06-05T17:02:45.258Z,1749142965.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.8,  55.5 (Local)

2025-06-05T17:02:45.260Z,1749142965.260 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:45.264Z,1749142965.264 [DAT](INFO): DAT read: 17:02:44.0427 LVL= 19952, 20177, 17506, 22947, AGC= 46, IDX= 501, 0.17,-1.866,-2.497,-2.465, 2.972, PHS= 1.533, 0.862, 0.843, RAW=  88.6, -59.3, CAL= 110.2, -55.5, ROT=  39.8,  55.5

2025-06-05T17:02:45.267Z,1749142965.267 [DAT](INFO): got valid direction response:
 17:02:44.0427 LVL= 19952, 20177, 17506, 22947, AGC= 46, IDX= 501, 0.17,-1.866,-2.497,-2.465, 2.972, PHS= 1.533, 0.862, 0.843, RAW=  88.6, -59.3, CAL= 110.2, -55.5, ROT=  39.8,  55.5

2025-06-05T17:02:45.267Z,1749142965.267 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-06-05T17:02:45.275Z,1749142965.275 [DAT](INFO): direction in FSK: [0.435161,0.362562,-0.824126]
2025-06-05T17:02:45.276Z,1749142965.276 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:45.291Z,1749142965.291 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=39.611858
2025-06-05T17:02:45.510Z,1749142965.510 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=39.830372
2025-06-05T17:02:45.760Z,1749142965.760 [DAT](INFO): DAT read: Rx Time:17:02:44.5427 

2025-06-05T17:02:45.760Z,1749142965.760 [DAT](INFO): Rx dataTimestamp_ set to:1749142965.759945
2025-06-05T17:02:45.761Z,1749142965.761 [DAT](INFO): DAT read: Bearing  27.8,  58.1 (Local)

2025-06-05T17:02:45.762Z,1749142965.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.8,  58.1 (Local)

2025-06-05T17:02:45.764Z,1749142965.764 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:45.776Z,1749142965.776 [DAT](INFO): DAT read: 17:02:44.5427 LVL= 17632, 18177, 17314, 20387, AGC= 45, IDX= 502, 0.21,-0.724,-1.321,-1.126,-2.164, PHS= 1.527, 0.890, 1.034, RAW= 102.5, -64.6, CAL= 122.2, -58.1, ROT=  27.8,  58.1

2025-06-05T17:02:45.778Z,1749142965.778 [DAT](INFO): got valid direction response:
 17:02:44.5427 LVL= 17632, 18177, 17314, 20387, AGC= 45, IDX= 502, 0.21,-0.724,-1.321,-1.126,-2.164, PHS= 1.527, 0.890, 1.034, RAW= 102.5, -64.6, CAL= 122.2, -58.1, ROT=  27.8,  58.1

2025-06-05T17:02:45.783Z,1749142965.783 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-06-05T17:02:45.785Z,1749142965.785 [DAT](INFO): direction in FSK: [0.467447,0.246457,-0.848972]
2025-06-05T17:02:45.785Z,1749142965.785 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:45.788Z,1749142965.788 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=40.109306
2025-06-05T17:02:46.011Z,1749142966.011 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=40.332039
2025-06-05T17:02:46.264Z,1749142966.264 [DAT](INFO): DAT read: Rx Time:17:02:45.0426 

2025-06-05T17:02:46.264Z,1749142966.264 [DAT](INFO): Rx dataTimestamp_ set to:1749142966.263796
2025-06-05T17:02:46.266Z,1749142966.266 [DAT](INFO): DAT read: Bearing  24.2,  59.0 (Local)

2025-06-05T17:02:46.267Z,1749142966.267 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.2,  59.0 (Local)

2025-06-05T17:02:46.269Z,1749142966.269 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:46.274Z,1749142966.274 [DAT](INFO): DAT read: 17:02:45.0426 LVL= 17696, 18977, 17858, 20435, AGC= 45, IDX= 501, 0.26,-2.024,-2.612,-2.377, 2.786, PHS= 1.560, 0.932, 1.117, RAW= 106.6, -66.3, CAL= 125.8, -59.0, ROT=  24.2,  59.0

2025-06-05T17:02:46.275Z,1749142966.275 [DAT](INFO): got valid direction response:
 17:02:45.0426 LVL= 17696, 18977, 17858, 20435, AGC= 45, IDX= 501, 0.26,-2.024,-2.612,-2.377, 2.786, PHS= 1.560, 0.932, 1.117, RAW= 106.6, -66.3, CAL= 125.8, -59.0, ROT=  24.2,  59.0

2025-06-05T17:02:46.275Z,1749142966.275 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-06-05T17:02:46.276Z,1749142966.276 [DAT](INFO): direction in FSK: [0.469777,0.211126,-0.857167]
2025-06-05T17:02:46.276Z,1749142966.276 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:46.280Z,1749142966.280 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=40.600933
2025-06-05T17:02:46.519Z,1749142966.519 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=40.839218
2025-06-05T17:02:46.768Z,1749142966.768 [DAT](INFO): DAT read: Rx Time:17:02:45.5427 

2025-06-05T17:02:46.769Z,1749142966.769 [DAT](INFO): Rx dataTimestamp_ set to:1749142966.768238
2025-06-05T17:02:46.770Z,1749142966.770 [DAT](INFO): DAT read: Bearing  36.1,  55.7 (Local)

2025-06-05T17:02:46.770Z,1749142966.770 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.1,  55.7 (Local)

2025-06-05T17:02:46.772Z,1749142966.772 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:46.781Z,1749142966.781 [DAT](INFO): DAT read: 17:02:45.5427 LVL= 18528, 20705, 18930, 20883, AGC= 46, IDX= 502, 0.28,-0.261,-0.963,-0.868,-1.833, PHS= 1.660, 0.917, 0.963, RAW=  93.1, -60.1, CAL= 113.9, -55.7, ROT=  36.1,  55.7

2025-06-05T17:02:46.782Z,1749142966.782 [DAT](INFO): got valid direction response:
 17:02:45.5427 LVL= 18528, 20705, 18930, 20883, AGC= 46, IDX= 502, 0.28,-0.261,-0.963,-0.868,-1.833, PHS= 1.660, 0.917, 0.963, RAW=  93.1, -60.1, CAL= 113.9, -55.7, ROT=  36.1,  55.7

2025-06-05T17:02:46.783Z,1749142966.783 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-06-05T17:02:46.784Z,1749142966.784 [DAT](INFO): direction in FSK: [0.455323,0.332027,-0.826098]
2025-06-05T17:02:46.785Z,1749142966.785 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:46.789Z,1749142966.789 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=41.109486
2025-06-05T17:02:47.020Z,1749142967.020 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=41.340576
2025-06-05T17:02:47.272Z,1749142967.272 [DAT](INFO): DAT read: Rx Time:17:02:46.0426 

2025-06-05T17:02:47.272Z,1749142967.272 [DAT](INFO): Rx dataTimestamp_ set to:1749142967.271979
2025-06-05T17:02:47.274Z,1749142967.274 [DAT](INFO): DAT read: Bearing  31.1,  58.8 (Local)

2025-06-05T17:02:47.274Z,1749142967.274 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.1,  58.8 (Local)

2025-06-05T17:02:47.276Z,1749142967.276 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:47.280Z,1749142967.280 [DAT](INFO): DAT read: 17:02:46.0426 LVL= 20000, 21537, 24562, 21395, AGC= 46, IDX= 501, 0.31,-0.636,-1.282,-1.132,-2.281, PHS= 1.733, 1.046, 1.146, RAW=  97.8, -65.1, CAL= 118.9, -58.8, ROT=  31.1,  58.8

2025-06-05T17:02:47.281Z,1749142967.281 [DAT](INFO): got valid direction response:
 17:02:46.0426 LVL= 20000, 21537, 24562, 21395, AGC= 46, IDX= 501, 0.31,-0.636,-1.282,-1.132,-2.281, PHS= 1.733, 1.046, 1.146, RAW=  97.8, -65.1, CAL= 118.9, -58.8, ROT=  31.1,  58.8

2025-06-05T17:02:47.282Z,1749142967.282 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-06-05T17:02:47.284Z,1749142967.284 [DAT](INFO): direction in FSK: [0.443569,0.267578,-0.855364]
2025-06-05T17:02:47.284Z,1749142967.284 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:47.287Z,1749142967.287 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=41.608349
2025-06-05T17:02:47.528Z,1749142967.528 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=41.847622
2025-06-05T17:02:47.776Z,1749142967.776 [DAT](INFO): DAT read: Rx Time:17:02:46.5422 

2025-06-05T17:02:47.777Z,1749142967.777 [DAT](INFO): Rx dataTimestamp_ set to:1749142967.776486
2025-06-05T17:02:47.783Z,1749142967.783 [DAT](INFO): DAT read: Bearing  35.1,  56.4 (Local)

2025-06-05T17:02:47.784Z,1749142967.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.1,  56.4 (Local)

2025-06-05T17:02:47.787Z,1749142967.787 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-06-05T17:02:47.794Z,1749142967.794 [DAT](INFO): DAT read: 17:02:46.5422 LVL= 26816, 26561, 29682, 31091, AGC= 48, IDX= 502, 0.30, 1.073, 0.311, 0.424,-0.682, PHS= 1.842, 1.040, 1.102, RAW=  94.0, -61.2, CAL= 114.9, -56.4, ROT=  35.1,  56.4

2025-06-05T17:02:47.796Z,1749142967.796 [DAT](INFO): got valid direction response:
 17:02:46.5422 LVL= 26816, 26561, 29682, 31091, AGC= 48, IDX= 502, 0.30, 1.073, 0.311, 0.424,-0.682, PHS= 1.842, 1.040, 1.102, RAW=  94.0, -61.2, CAL= 114.9, -56.4, ROT=  35.1,  56.4

2025-06-05T17:02:47.796Z,1749142967.796 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-06-05T17:02:47.797Z,1749142967.797 [DAT](INFO): direction in FSK: [0.452757,0.318203,-0.832921]
2025-06-05T17:02:47.797Z,1749142967.797 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:47.809Z,1749142967.809 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=42.129589
2025-06-05T17:02:48.027Z,1749142968.027 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=42.348000
2025-06-05T17:02:48.280Z,1749142968.280 [DAT](INFO): DAT read: Rx Time:17:02:47.0421 

2025-06-05T17:02:48.280Z,1749142968.280 [DAT](INFO): Rx dataTimestamp_ set to:1749142968.279965
2025-06-05T17:02:48.282Z,1749142968.282 [DAT](INFO): DAT read: Bearing  41.1,  54.1 (Local)

2025-06-05T17:02:48.282Z,1749142968.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.1,  54.1 (Local)

2025-06-05T17:02:48.285Z,1749142968.285 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T17:02:48.333Z,1749142968.333 [DAT](INFO): DAT read: 17:02:47.0421 LVL= 22704, 23217, 23602, 31219, AGC= 47, IDX= 501, 0.28, 0.709,-0.181,-0.174,-1.225, PHS= 2.022, 1.092, 1.048, RAW=  87.7, -57.1, CAL= 108.9, -54.1, ROT=  41.1,  54.1

2025-06-05T17:02:48.339Z,1749142968.339 [DAT](INFO): got valid direction response:
 17:02:47.0421 LVL= 22704, 23217, 23602, 31219, AGC= 47, IDX= 501, 0.28, 0.709,-0.181,-0.174,-1.225, PHS= 2.022, 1.092, 1.048, RAW=  87.7, -57.1, CAL= 108.9, -54.1, ROT=  41.1,  54.1

2025-06-05T17:02:48.339Z,1749142968.339 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-06-05T17:02:48.340Z,1749142968.340 [DAT](INFO): direction in FSK: [0.441869,0.385467,-0.810042]
2025-06-05T17:02:48.340Z,1749142968.340 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:48.348Z,1749142968.348 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=42.669041
2025-06-05T17:02:48.475Z,1749142968.475 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:02:48.536Z,1749142968.536 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=42.855820
2025-06-05T17:02:48.787Z,1749142968.787 [DAT](INFO): DAT read: Rx Time:17:02:47.5421 

2025-06-05T17:02:48.788Z,1749142968.788 [DAT](INFO): Rx dataTimestamp_ set to:1749142968.787648
2025-06-05T17:02:48.789Z,1749142968.789 [DAT](INFO): DAT read: Bearing  51.2,  51.9 (Local)

2025-06-05T17:02:48.790Z,1749142968.790 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.2,  51.9 (Local)

2025-06-05T17:02:48.792Z,1749142968.792 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T17:02:48.796Z,1749142968.796 [DAT](INFO): DAT read: 17:02:47.5421 LVL= 23760, 26977, 26098, 32755, AGC= 48, IDX= 501, 0.18, 2.946, 2.036, 1.799, 0.932, PHS= 2.101, 1.150, 0.864, RAW=  77.2, -52.4, CAL=  98.8, -51.9, ROT=  51.2,  51.9

2025-06-05T17:02:48.797Z,1749142968.797 [DAT](INFO): got valid direction response:
 17:02:47.5421 LVL= 23760, 26977, 26098, 32755, AGC= 48, IDX= 501, 0.18, 2.946, 2.036, 1.799, 0.932, PHS= 2.101, 1.150, 0.864, RAW=  77.2, -52.4, CAL=  98.8, -51.9, ROT=  51.2,  51.9

2025-06-05T17:02:48.798Z,1749142968.798 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-06-05T17:02:48.799Z,1749142968.799 [DAT](INFO): direction in FSK: [0.386637,0.480879,-0.786935]
2025-06-05T17:02:48.800Z,1749142968.800 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:48.816Z,1749142968.816 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=43.136768
2025-06-05T17:02:49.036Z,1749142969.036 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=43.356503
2025-06-05T17:02:49.288Z,1749142969.288 [DAT](INFO): DAT read: Rx Time:17:02:48.0425 

2025-06-05T17:02:49.288Z,1749142969.288 [DAT](INFO): Rx dataTimestamp_ set to:1749142969.287760
2025-06-05T17:02:49.289Z,1749142969.289 [DAT](INFO): DAT read: Bearing  54.1,  51.3 (Local)

2025-06-05T17:02:49.290Z,1749142969.290 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.1,  51.3 (Local)

2025-06-05T17:02:49.292Z,1749142969.292 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T17:02:49.296Z,1749142969.296 [DAT](INFO): DAT read: 17:02:48.0425 LVL= 25120, 28401, 27458, 31331, AGC= 48, IDX= 500, 0.16, 2.523, 1.609, 1.294, 0.479, PHS= 2.133, 1.177, 0.812, RAW=  74.5, -51.0, CAL=  95.9, -51.3, ROT=  54.1,  51.3

2025-06-05T17:02:49.297Z,1749142969.297 [DAT](INFO): got valid direction response:
 17:02:48.0425 LVL= 25120, 28401, 27458, 31331, AGC= 48, IDX= 500, 0.16, 2.523, 1.609, 1.294, 0.479, PHS= 2.133, 1.177, 0.812, RAW=  74.5, -51.0, CAL=  95.9, -51.3, ROT=  54.1,  51.3

2025-06-05T17:02:49.297Z,1749142969.297 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-06-05T17:02:49.299Z,1749142969.299 [DAT](INFO): direction in FSK: [0.366625,0.506473,-0.780430]
2025-06-05T17:02:49.300Z,1749142969.300 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:49.303Z,1749142969.303 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=43.624367
2025-06-05T17:02:49.483Z,1749142969.483 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:02:49.543Z,1749142969.543 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=43.862545
2025-06-05T17:02:49.794Z,1749142969.794 [DAT](INFO): DAT read: Rx Time:17:02:48.5426 

2025-06-05T17:02:49.794Z,1749142969.794 [DAT](INFO): Rx dataTimestamp_ set to:1749142969.794004
2025-06-05T17:02:49.797Z,1749142969.797 [DAT](INFO): DAT read: Bearing  57.7,  47.5 (Local)

2025-06-05T17:02:49.797Z,1749142969.797 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.7,  47.5 (Local)

2025-06-05T17:02:49.801Z,1749142969.801 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:49.823Z,1749142969.823 [DAT](INFO): DAT read: 17:02:48.5426 LVL= 21168, 23841, 24706, 23539, AGC= 47, IDX= 501, 0.11,-1.393,-2.375,-2.788, 2.886, PHS= 2.092, 1.069, 0.607, RAW=  72.3, -45.3, CAL=  92.3, -47.5, ROT=  57.7,  47.5

2025-06-05T17:02:49.825Z,1749142969.825 [DAT](INFO): got valid direction response:
 17:02:48.5426 LVL= 21168, 23841, 24706, 23539, AGC= 47, IDX= 501, 0.11,-1.393,-2.375,-2.788, 2.886, PHS= 2.092, 1.069, 0.607, RAW=  72.3, -45.3, CAL=  92.3, -47.5, ROT=  57.7,  47.5

2025-06-05T17:02:49.825Z,1749142969.825 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-06-05T17:02:49.831Z,1749142969.831 [DAT](INFO): direction in FSK: [0.361003,0.571051,-0.737277]
2025-06-05T17:02:49.831Z,1749142969.831 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:49.846Z,1749142969.846 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=44.167393
2025-06-05T17:02:50.043Z,1749142970.043 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=44.363953
2025-06-05T17:02:50.296Z,1749142970.296 [DAT](INFO): DAT read: Rx Time:17:02:49.0426 

2025-06-05T17:02:50.296Z,1749142970.296 [DAT](INFO): Rx dataTimestamp_ set to:1749142970.295958
2025-06-05T17:02:50.297Z,1749142970.297 [DAT](INFO): DAT read: Bearing  58.2,  47.8 (Local)

2025-06-05T17:02:50.298Z,1749142970.298 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.2,  47.8 (Local)

2025-06-05T17:02:50.301Z,1749142970.301 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:50.311Z,1749142970.311 [DAT](INFO): DAT read: 17:02:49.0426 LVL= 21648, 21105, 23746, 20067, AGC= 46, IDX= 500, 0.13,-2.700, 2.622, 2.196, 1.589, PHS= 2.083, 1.080, 0.604, RAW=  71.6, -45.5, CAL=  91.8, -47.8, ROT=  58.2,  47.8

2025-06-05T17:02:50.312Z,1749142970.312 [DAT](INFO): got valid direction response:
 17:02:49.0426 LVL= 21648, 21105, 23746, 20067, AGC= 46, IDX= 500, 0.13,-2.700, 2.622, 2.196, 1.589, PHS= 2.083, 1.080, 0.604, RAW=  71.6, -45.5, CAL=  91.8, -47.8, ROT=  58.2,  47.8

2025-06-05T17:02:50.312Z,1749142970.312 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-06-05T17:02:50.313Z,1749142970.313 [DAT](INFO): direction in FSK: [0.353967,0.570890,-0.740805]
2025-06-05T17:02:50.313Z,1749142970.313 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:50.331Z,1749142970.331 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=44.651955
2025-06-05T17:02:50.550Z,1749142970.550 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=44.870247
2025-06-05T17:02:50.801Z,1749142970.801 [DAT](INFO): DAT read: Rx Time:17:02:49.5427 

2025-06-05T17:02:50.801Z,1749142970.801 [DAT](INFO): Rx dataTimestamp_ set to:1749142970.801217
2025-06-05T17:02:50.804Z,1749142970.804 [DAT](INFO): DAT read: Bearing  60.3,  48.2 (Local)

2025-06-05T17:02:50.804Z,1749142970.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing  60.3,  48.2 (Local)

2025-06-05T17:02:50.806Z,1749142970.806 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:50.815Z,1749142970.815 [DAT](INFO): DAT read: 17:02:49.5427 LVL= 20576, 20449, 25666, 19411, AGC= 45, IDX= 501, 0.20,-1.407,-2.322,-2.802, 2.889, PHS= 2.074, 1.119, 0.588, RAW=  69.4, -45.7, CAL=  89.7, -48.2, ROT=  60.3,  48.2

2025-06-05T17:02:50.817Z,1749142970.817 [DAT](INFO): got valid direction response:
 17:02:49.5427 LVL= 20576, 20449, 25666, 19411, AGC= 45, IDX= 501, 0.20,-1.407,-2.322,-2.802, 2.889, PHS= 2.074, 1.119, 0.588, RAW=  69.4, -45.7, CAL=  89.7, -48.2, ROT=  60.3,  48.2

2025-06-05T17:02:50.818Z,1749142970.818 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-05T17:02:50.819Z,1749142970.819 [DAT](INFO): direction in FSK: [0.330239,0.578971,-0.745476]
2025-06-05T17:02:50.819Z,1749142970.819 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:50.855Z,1749142970.855 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=45.175900
2025-06-05T17:02:51.052Z,1749142971.052 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=45.372452
2025-06-05T17:02:51.304Z,1749142971.304 [DAT](INFO): DAT read: Rx Time:17:02:50.0426 

2025-06-05T17:02:51.304Z,1749142971.304 [DAT](INFO): Rx dataTimestamp_ set to:1749142971.304026
2025-06-05T17:02:51.306Z,1749142971.306 [DAT](INFO): DAT read: Bearing  60.2,  48.3 (Local)

2025-06-05T17:02:51.306Z,1749142971.306 [DAT](INFO): Local bearing/azimuth received:
 Bearing  60.2,  48.3 (Local)

2025-06-05T17:02:51.308Z,1749142971.308 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:51.313Z,1749142971.313 [DAT](INFO): DAT read: 17:02:50.0426 LVL= 23024, 21473, 26946, 24051, AGC= 46, IDX= 500, 0.27,-2.803, 2.561, 2.081, 1.482, PHS= 2.086, 1.126, 0.596, RAW=  69.5, -45.8, CAL=  89.8, -48.3, ROT=  60.2,  48.3

2025-06-05T17:02:51.322Z,1749142971.322 [DAT](INFO): got valid direction response:
 17:02:50.0426 LVL= 23024, 21473, 26946, 24051, AGC= 46, IDX= 500, 0.27,-2.803, 2.561, 2.081, 1.482, PHS= 2.086, 1.126, 0.596, RAW=  69.5, -45.8, CAL=  89.8, -48.3, ROT=  60.2,  48.3

2025-06-05T17:02:51.330Z,1749142971.330 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-06-05T17:02:51.331Z,1749142971.331 [DAT](INFO): direction in FSK: [0.330602,0.577264,-0.746638]
2025-06-05T17:02:51.332Z,1749142971.332 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:51.345Z,1749142971.345 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=45.665623
2025-06-05T17:02:51.555Z,1749142971.555 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=45.876167
2025-06-05T17:02:51.808Z,1749142971.808 [DAT](INFO): DAT read: Rx Time:17:02:50.5427 

2025-06-05T17:02:51.809Z,1749142971.809 [DAT](INFO): Rx dataTimestamp_ set to:1749142971.808131
2025-06-05T17:02:51.811Z,1749142971.811 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:51.812Z,1749142971.812 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-06-05T17:02:51.813Z,1749142971.813 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=46.133873
2025-06-05T17:02:52.060Z,1749142972.060 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=46.380760
2025-06-05T17:02:52.311Z,1749142972.311 [DAT](INFO): DAT read: Rx Time:17:02:51.0426 

2025-06-05T17:02:52.312Z,1749142972.312 [DAT](INFO): Rx dataTimestamp_ set to:1749142972.311345
2025-06-05T17:02:52.313Z,1749142972.313 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:52.313Z,1749142972.313 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-06-05T17:02:52.314Z,1749142972.314 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=46.635311
2025-06-05T17:02:52.567Z,1749142972.567 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=46.886604
2025-06-05T17:02:52.817Z,1749142972.817 [DAT](INFO): DAT read: Rx Time:17:02:51.5427 

2025-06-05T17:02:52.817Z,1749142972.817 [DAT](INFO): Rx dataTimestamp_ set to:1749142972.816942
2025-06-05T17:02:52.824Z,1749142972.824 [DAT](INFO): DAT read: Bearing  44.4,  61.9 (Local)

2025-06-05T17:02:52.824Z,1749142972.824 [DAT](INFO): Local bearing/azimuth received:
 Bearing  44.4,  61.9 (Local)

2025-06-05T17:02:52.826Z,1749142972.826 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:52.835Z,1749142972.835 [DAT](INFO): DAT read: 17:02:51.5427 LVL= 19088, 21969, 24338, 24947, AGC= 46, IDX= 501,-0.19,-1.722,-2.417,-2.479, 2.437, PHS= 2.213, 1.477, 1.364, RAW=  83.0, -65.9, CAL= 105.6, -61.9, ROT=  44.4,  61.9

2025-06-05T17:02:52.836Z,1749142972.836 [DAT](INFO): got valid direction response:
 17:02:51.5427 LVL= 19088, 21969, 24338, 24947, AGC= 46, IDX= 501,-0.19,-1.722,-2.417,-2.479, 2.437, PHS= 2.213, 1.477, 1.364, RAW=  83.0, -65.9, CAL= 105.6, -61.9, ROT=  44.4,  61.9

2025-06-05T17:02:52.836Z,1749142972.836 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-06-05T17:02:52.837Z,1749142972.837 [DAT](INFO): direction in FSK: [0.336525,0.329550,-0.882127]
2025-06-05T17:02:52.837Z,1749142972.837 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:52.841Z,1749142972.841 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=47.162121
2025-06-05T17:02:53.068Z,1749142973.068 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=47.388889
2025-06-05T17:02:53.320Z,1749142973.320 [DAT](INFO): DAT read: Rx Time:17:02:52.0426 

2025-06-05T17:02:53.320Z,1749142973.320 [DAT](INFO): Rx dataTimestamp_ set to:1749142973.319731
2025-06-05T17:02:53.321Z,1749142973.321 [DAT](INFO): DAT read: Bearing  35.6,  64.7 (Local)

2025-06-05T17:02:53.322Z,1749142973.322 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.6,  64.7 (Local)

2025-06-05T17:02:53.324Z,1749142973.324 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:02:53.328Z,1749142973.328 [DAT](INFO): DAT read: 17:02:52.0426 LVL= 18112, 22321, 22514, 22675, AGC= 46, IDX= 500,-0.09, 2.495, 1.775, 1.903, 0.251, PHS= 2.332, 1.571, 1.650, RAW=  95.4, -69.7, CAL= 114.4, -64.7, ROT=  35.6,  64.7

2025-06-05T17:02:53.329Z,1749142973.329 [DAT](INFO): got valid direction response:
 17:02:52.0426 LVL= 18112, 22321, 22514, 22675, AGC= 46, IDX= 500,-0.09, 2.495, 1.775, 1.903, 0.251, PHS= 2.332, 1.571, 1.650, RAW=  95.4, -69.7, CAL= 114.4, -64.7, ROT=  35.6,  64.7

2025-06-05T17:02:53.329Z,1749142973.329 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-06-05T17:02:53.331Z,1749142973.331 [DAT](INFO): direction in FSK: [0.347485,0.248775,-0.904083]
2025-06-05T17:02:53.331Z,1749142973.331 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:53.336Z,1749142973.336 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=47.657127
2025-06-05T17:02:53.573Z,1749142973.573 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=47.892899
2025-06-05T17:02:53.824Z,1749142973.824 [DAT](INFO): DAT read: Rx Time:17:02:52.5424 

2025-06-05T17:02:53.824Z,1749142973.824 [DAT](INFO): Rx dataTimestamp_ set to:1749142973.823952
2025-06-05T17:02:53.825Z,1749142973.825 [DAT](INFO): DAT read: Bearing  27.8,  58.2 (Local)

2025-06-05T17:02:53.826Z,1749142973.826 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.8,  58.2 (Local)

2025-06-05T17:02:53.828Z,1749142973.828 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T17:02:53.836Z,1749142973.836 [DAT](INFO): DAT read: 17:02:52.5424 LVL= 17440, 23393, 19954, 25011, AGC= 46, IDX= 501, 0.02,-2.518, 2.817, 3.090, 1.471, PHS= 2.382, 1.394, 1.616, RAW= 102.4, -64.8, CAL= 122.2, -58.2, ROT=  27.8,  58.2

2025-06-05T17:02:53.838Z,1749142973.838 [DAT](INFO): got valid direction response:
 17:02:52.5424 LVL= 17440, 23393, 19954, 25011, AGC= 46, IDX= 501, 0.02,-2.518, 2.817, 3.090, 1.471, PHS= 2.382, 1.394, 1.616, RAW= 102.4, -64.8, CAL= 122.2, -58.2, ROT=  27.8,  58.2

2025-06-05T17:02:53.846Z,1749142973.846 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-06-05T17:02:53.855Z,1749142973.855 [DAT](INFO): direction in FSK: [0.466135,0.245765,-0.849893]
2025-06-05T17:02:53.855Z,1749142973.855 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:53.859Z,1749142973.859 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=48.180027
2025-06-05T17:02:54.075Z,1749142974.075 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=48.395985
2025-06-05T17:02:54.328Z,1749142974.328 [DAT](INFO): DAT read: Rx Time:17:02:53.0423 

2025-06-05T17:02:54.328Z,1749142974.328 [DAT](INFO): Rx dataTimestamp_ set to:1749142974.327897
2025-06-05T17:02:54.329Z,1749142974.329 [DAT](INFO): DAT read: Bearing  28.9,  65.3 (Local)

2025-06-05T17:02:54.330Z,1749142974.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.9,  65.3 (Local)

2025-06-05T17:02:54.332Z,1749142974.332 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-06-05T17:02:54.338Z,1749142974.338 [DAT](INFO): DAT read: 17:02:53.0423 LVL= 17536, 21665, 21490, 23539, AGC= 45, IDX= 500, 0.10, 2.346, 1.604, 1.850, 0.028, PHS= 2.406, 1.622, 1.819, RAW= 103.9, -71.1, CAL= 121.1, -65.3, ROT=  28.9,  65.3

2025-06-05T17:02:54.339Z,1749142974.339 [DAT](INFO): got valid direction response:
 17:02:53.0423 LVL= 17536, 21665, 21490, 23539, AGC= 45, IDX= 500, 0.10, 2.346, 1.604, 1.850, 0.028, PHS= 2.406, 1.622, 1.819, RAW= 103.9, -71.1, CAL= 121.1, -65.3, ROT=  28.9,  65.3

2025-06-05T17:02:54.339Z,1749142974.339 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-06-05T17:02:54.340Z,1749142974.340 [DAT](INFO): direction in FSK: [0.365828,0.201948,-0.908508]
2025-06-05T17:02:54.341Z,1749142974.341 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:54.345Z,1749142974.345 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=48.665550
2025-06-05T17:02:54.579Z,1749142974.579 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=48.899975
2025-06-05T17:02:54.832Z,1749142974.832 [DAT](INFO): DAT read: Rx Time:17:02:53.5424 

2025-06-05T17:02:54.833Z,1749142974.833 [DAT](INFO): Rx dataTimestamp_ set to:1749142974.831806
2025-06-05T17:02:54.835Z,1749142974.835 [DAT](INFO): DAT read: Bearing   2.4,  58.3 (Local)

2025-06-05T17:02:54.835Z,1749142974.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.4,  58.3 (Local)

2025-06-05T17:02:54.837Z,1749142974.837 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T17:02:54.842Z,1749142974.842 [DAT](INFO): DAT read: 17:02:53.5424 LVL= 22688, 21553, 21138, 23491, AGC= 46, IDX= 501, 0.19, 2.585, 1.711, 2.458, 0.458, PHS= 2.215, 1.300, 1.997, RAW= 136.8, -67.0, CAL= 147.6, -58.3, ROT=   2.4,  58.3

2025-06-05T17:02:54.843Z,1749142974.843 [DAT](INFO): got valid direction response:
 17:02:53.5424 LVL= 22688, 21553, 21138, 23491, AGC= 46, IDX= 501, 0.19, 2.585, 1.711, 2.458, 0.458, PHS= 2.215, 1.300, 1.997, RAW= 136.8, -67.0, CAL= 147.6, -58.3, ROT=   2.4,  58.3

2025-06-05T17:02:54.843Z,1749142974.843 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-06-05T17:02:54.844Z,1749142974.844 [DAT](INFO): direction in FSK: [0.525011,0.022004,-0.850811]
2025-06-05T17:02:54.844Z,1749142974.844 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:54.848Z,1749142974.848 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=49.168758
2025-06-05T17:02:55.084Z,1749142975.084 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=49.405018
2025-06-05T17:02:55.336Z,1749142975.336 [DAT](INFO): DAT read: Rx Time:17:02:54.0420 

2025-06-05T17:02:55.336Z,1749142975.336 [DAT](INFO): Rx dataTimestamp_ set to:1749142975.336006
2025-06-05T17:02:55.338Z,1749142975.338 [DAT](INFO): DAT read: Bearing  11.1,  60.1 (Local)

2025-06-05T17:02:55.338Z,1749142975.338 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.1,  60.1 (Local)

2025-06-05T17:02:55.340Z,1749142975.340 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-06-05T17:02:55.345Z,1749142975.345 [DAT](INFO): DAT read: 17:02:54.0420 LVL= 21664, 21233, 23090, 21859, AGC= 46, IDX= 500, 0.25, 1.820, 1.095, 1.571,-0.117, PHS= 2.026, 1.260, 1.685, RAW= 123.7, -69.3, CAL= 138.9, -60.1, ROT=  11.1,  60.1

2025-06-05T17:02:55.346Z,1749142975.346 [DAT](INFO): got valid direction response:
 17:02:54.0420 LVL= 21664, 21233, 23090, 21859, AGC= 46, IDX= 500, 0.25, 1.820, 1.095, 1.571,-0.117, PHS= 2.026, 1.260, 1.685, RAW= 123.7, -69.3, CAL= 138.9, -60.1, ROT=  11.1,  60.1

2025-06-05T17:02:55.346Z,1749142975.346 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-06-05T17:02:55.347Z,1749142975.347 [DAT](INFO): direction in FSK: [0.489162,0.095970,-0.866897]
2025-06-05T17:02:55.347Z,1749142975.347 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:55.353Z,1749142975.353 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=49.673431
2025-06-05T17:02:55.590Z,1749142975.590 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=49.910118
2025-06-05T17:02:55.840Z,1749142975.840 [DAT](INFO): DAT read: Rx Time:17:02:54.5421 

2025-06-05T17:02:55.840Z,1749142975.840 [DAT](INFO): Rx dataTimestamp_ set to:1749142975.839914
2025-06-05T17:02:55.841Z,1749142975.841 [DAT](INFO): DAT read: Bearing   3.2,  56.5 (Local)

2025-06-05T17:02:55.842Z,1749142975.842 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.2,  56.5 (Local)

2025-06-05T17:02:55.844Z,1749142975.844 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T17:02:55.849Z,1749142975.849 [DAT](INFO): DAT read: 17:02:54.5421 LVL= 20448, 22977, 16882, 22899, AGC= 46, IDX= 501, 0.36, 2.217, 1.396, 2.096, 0.439, PHS= 1.866, 1.004, 1.654, RAW= 136.4, -64.1, CAL= 146.8, -56.5, ROT=   3.2,  56.5

2025-06-05T17:02:55.851Z,1749142975.851 [DAT](INFO): got valid direction response:
 17:02:54.5421 LVL= 20448, 22977, 16882, 22899, AGC= 46, IDX= 501, 0.36, 2.217, 1.396, 2.096, 0.439, PHS= 1.866, 1.004, 1.654, RAW= 136.4, -64.1, CAL= 146.8, -56.5, ROT=   3.2,  56.5

2025-06-05T17:02:55.852Z,1749142975.852 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-06-05T17:02:55.853Z,1749142975.853 [DAT](INFO): direction in FSK: [0.551076,0.030810,-0.833886]
2025-06-05T17:02:55.853Z,1749142975.853 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:55.860Z,1749142975.860 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=50.181232
2025-06-05T17:02:56.091Z,1749142976.091 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=50.412090
2025-06-05T17:02:56.344Z,1749142976.344 [DAT](INFO): DAT read: Rx Time:17:02:55.0420 

2025-06-05T17:02:56.344Z,1749142976.344 [DAT](INFO): Rx dataTimestamp_ set to:1749142976.343798
2025-06-05T17:02:56.345Z,1749142976.345 [DAT](INFO): DAT read: Bearing   3.1,  58.6 (Local)

2025-06-05T17:02:56.346Z,1749142976.346 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.1,  58.6 (Local)

2025-06-05T17:02:56.348Z,1749142976.348 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-06-05T17:02:56.354Z,1749142976.354 [DAT](INFO): DAT read: 17:02:55.0420 LVL= 20176, 23825, 20146, 25731, AGC= 47, IDX= 500, 0.36, 1.394, 0.749, 1.308,-0.213, PHS= 1.695, 1.010, 1.519, RAW= 135.6, -67.6, CAL= 146.9, -58.6, ROT=   3.1,  58.6

2025-06-05T17:02:56.355Z,1749142976.355 [DAT](INFO): got valid direction response:
 17:02:55.0420 LVL= 20176, 23825, 20146, 25731, AGC= 47, IDX= 500, 0.36, 1.394, 0.749, 1.308,-0.213, PHS= 1.695, 1.010, 1.519, RAW= 135.6, -67.6, CAL= 146.9, -58.6, ROT=   3.1,  58.6

2025-06-05T17:02:56.355Z,1749142976.355 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-06-05T17:02:56.356Z,1749142976.356 [DAT](INFO): direction in FSK: [0.520247,0.028176,-0.853551]
2025-06-05T17:02:56.357Z,1749142976.357 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:56.360Z,1749142976.360 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:02:56.360Z,1749142976.360 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:02:56.360Z,1749142976.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:02:56.596Z,1749142976.596 [DAT](INFO): Reached modem response timeout
2025-06-05T17:02:56.596Z,1749142976.596 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:02:56.596Z,1749142976.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:02:56.848Z,1749142976.848 [DAT](INFO): DAT read: Rx Time:17:02:55.5428 

2025-06-05T17:02:56.848Z,1749142976.848 [DAT](INFO): Rx dataTimestamp_ set to:1749142976.847952
2025-06-05T17:02:56.851Z,1749142976.851 [DAT](INFO): DAT read: Bearing   6.0,  58.9 (Local)

2025-06-05T17:02:56.851Z,1749142976.851 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.0,  58.9 (Local)

2025-06-05T17:02:56.853Z,1749142976.853 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:56.865Z,1749142976.865 [DAT](INFO): DAT read: 17:02:55.5428 LVL= 14320, 17825, 15058, 21603, AGC= 44, IDX= 500, 0.41, 1.212, 0.624, 1.098,-0.261, PHS= 1.560, 0.931, 1.356, RAW= 131.4, -67.8, CAL= 144.0, -58.9, ROT=   6.0,  58.9

2025-06-05T17:02:56.867Z,1749142976.867 [DAT](INFO): got valid direction response:
 17:02:55.5428 LVL= 14320, 17825, 15058, 21603, AGC= 44, IDX= 500, 0.41, 1.212, 0.624, 1.098,-0.261, PHS= 1.560, 0.931, 1.356, RAW= 131.4, -67.8, CAL= 144.0, -58.9, ROT=   6.0,  58.9

2025-06-05T17:02:56.868Z,1749142976.868 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:02:56.869Z,1749142976.869 [DAT](INFO): direction in FSK: [0.513704,0.053992,-0.856267]
2025-06-05T17:02:56.869Z,1749142976.869 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:56.872Z,1749142976.872 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:02:56.872Z,1749142976.872 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:02:57.099Z,1749142977.099 [DAT](INFO): Reached modem response timeout
2025-06-05T17:02:57.100Z,1749142977.100 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:02:57.100Z,1749142977.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:02:57.352Z,1749142977.352 [DAT](INFO): DAT read: Rx Time:17:02:56.0427 

2025-06-05T17:02:57.353Z,1749142977.353 [DAT](INFO): Rx dataTimestamp_ set to:1749142977.352583
2025-06-05T17:02:57.354Z,1749142977.354 [DAT](INFO): DAT read: Bearing 356.0,  61.8 (Local)

2025-06-05T17:02:57.355Z,1749142977.355 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.0,  61.8 (Local)

2025-06-05T17:02:57.357Z,1749142977.357 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:57.361Z,1749142977.361 [DAT](INFO): DAT read: 17:02:56.0427 LVL= 17904, 19585, 17650, 21571, AGC= 46, IDX= 499, 0.45,-0.145,-0.576,-0.092,-1.494, PHS= 1.437, 0.965, 1.399, RAW= 145.8, -71.3, CAL= 154.0, -61.8, ROT= 356.0,  61.8

2025-06-05T17:02:57.362Z,1749142977.362 [DAT](INFO): got valid direction response:
 17:02:56.0427 LVL= 17904, 19585, 17650, 21571, AGC= 46, IDX= 499, 0.45,-0.145,-0.576,-0.092,-1.494, PHS= 1.437, 0.965, 1.399, RAW= 145.8, -71.3, CAL= 154.0, -61.8, ROT= 356.0,  61.8

2025-06-05T17:02:57.363Z,1749142977.363 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:02:57.364Z,1749142977.364 [DAT](INFO): direction in FSK: [0.471400,-0.032963,-0.881303]
2025-06-05T17:02:57.364Z,1749142977.364 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:57.368Z,1749142977.368 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:02:57.369Z,1749142977.369 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:02:57.603Z,1749142977.603 [DAT](INFO): Reached modem response timeout
2025-06-05T17:02:57.603Z,1749142977.603 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:02:57.603Z,1749142977.603 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:02:57.857Z,1749142977.857 [DAT](INFO): DAT read: Rx Time:17:02:56.5428 

2025-06-05T17:02:57.857Z,1749142977.857 [DAT](INFO): Rx dataTimestamp_ set to:1749142977.856908
2025-06-05T17:02:57.859Z,1749142977.859 [DAT](INFO): DAT read: Bearing  32.9,  59.7 (Local)

2025-06-05T17:02:57.859Z,1749142977.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.9,  59.7 (Local)

2025-06-05T17:02:57.871Z,1749142977.871 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed -0.1

2025-06-05T17:02:57.876Z,1749142977.876 [DAT](INFO): DAT read: 17:02:56.5428 LVL= 19536, 20273, 17138, 24035, AGC= 46, IDX= 500, 0.49, 1.680, 1.157, 1.262, 0.270, PHS= 1.498, 0.934, 0.989, RAW=  95.1, -66.0, CAL= 117.1, -59.7, ROT=  32.9,  59.7

2025-06-05T17:02:57.877Z,1749142977.877 [DAT](INFO): got valid direction response:
 17:02:56.5428 LVL= 19536, 20273, 17138, 24035, AGC= 46, IDX= 500, 0.49, 1.680, 1.157, 1.262, 0.270, PHS= 1.498, 0.934, 0.989, RAW=  95.1, -66.0, CAL= 117.1, -59.7, ROT=  32.9,  59.7

2025-06-05T17:02:57.877Z,1749142977.877 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:02:57.879Z,1749142977.879 [DAT](INFO): direction in FSK: [0.423611,0.274047,-0.863396]
2025-06-05T17:02:57.879Z,1749142977.879 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:57.889Z,1749142977.889 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:02:57.890Z,1749142977.890 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:02:58.107Z,1749142978.107 [DAT](INFO): Reached modem response timeout
2025-06-05T17:02:58.107Z,1749142978.107 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:02:58.107Z,1749142978.107 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:02:58.360Z,1749142978.360 [DAT](INFO): DAT read: Rx Time:17:02:57.0427 

2025-06-05T17:02:58.360Z,1749142978.360 [DAT](INFO): Rx dataTimestamp_ set to:1749142978.360045
2025-06-05T17:02:58.362Z,1749142978.362 [DAT](INFO): DAT read: Bearing  10.3,  71.0 (Local)

2025-06-05T17:02:58.362Z,1749142978.362 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.3,  71.0 (Local)

2025-06-05T17:02:58.364Z,1749142978.364 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:58.369Z,1749142978.369 [DAT](INFO): DAT read: 17:02:57.0427 LVL= 22640, 21777, 20322, 32099, AGC= 48, IDX= 500,-0.42,-1.085,-1.383,-1.110,-2.361, PHS= 1.364, 1.024, 1.248, RAW= 130.3, -76.9, CAL= 139.7, -71.0, ROT=  10.3,  71.0

2025-06-05T17:02:58.370Z,1749142978.370 [DAT](INFO): got valid direction response:
 17:02:57.0427 LVL= 22640, 21777, 20322, 32099, AGC= 48, IDX= 500,-0.42,-1.085,-1.383,-1.110,-2.361, PHS= 1.364, 1.024, 1.248, RAW= 130.3, -76.9, CAL= 139.7, -71.0, ROT=  10.3,  71.0

2025-06-05T17:02:58.371Z,1749142978.371 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:02:58.372Z,1749142978.372 [DAT](INFO): direction in FSK: [0.320322,0.058212,-0.945519]
2025-06-05T17:02:58.372Z,1749142978.372 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:58.376Z,1749142978.376 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:02:58.376Z,1749142978.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:02:58.611Z,1749142978.611 [DAT](INFO): Reached modem response timeout
2025-06-05T17:02:58.611Z,1749142978.611 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:02:58.611Z,1749142978.611 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:02:58.864Z,1749142978.864 [DAT](INFO): DAT read: Rx Time:17:02:57.5428 

2025-06-05T17:02:58.864Z,1749142978.864 [DAT](INFO): Rx dataTimestamp_ set to:1749142978.863988
2025-06-05T17:02:58.871Z,1749142978.871 [DAT](INFO): DAT read: Bearing 360.0,  75.2 (Local)

2025-06-05T17:02:58.871Z,1749142978.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing 360.0,  75.2 (Local)

2025-06-05T17:02:58.873Z,1749142978.873 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:58.878Z,1749142978.878 [DAT](INFO): DAT read: 17:02:57.5428 LVL= 19952, 29809, 21778, 32755, AGC= 47, IDX= 501,-0.36, 0.013,-0.205, 0.079,-1.337, PHS= 1.438, 1.178, 1.412, RAW= 144.9, -80.1, CAL= 150.0, -75.2, ROT= 360.0,  75.2

2025-06-05T17:02:58.879Z,1749142978.879 [DAT](INFO): got valid direction response:
 17:02:57.5428 LVL= 19952, 29809, 21778, 32755, AGC= 47, IDX= 501,-0.36, 0.013,-0.205, 0.079,-1.337, PHS= 1.438, 1.178, 1.412, RAW= 144.9, -80.1, CAL= 150.0, -75.2, ROT= 360.0,  75.2

2025-06-05T17:02:58.879Z,1749142978.879 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:02:58.880Z,1749142978.880 [DAT](INFO): direction in FSK: [0.255446,0.000000,-0.966823]
2025-06-05T17:02:58.880Z,1749142978.880 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:58.896Z,1749142978.896 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:02:58.897Z,1749142978.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:02:59.115Z,1749142979.115 [DAT](INFO): Reached modem response timeout
2025-06-05T17:02:59.115Z,1749142979.115 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:02:59.115Z,1749142979.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:02:59.369Z,1749142979.369 [DAT](INFO): DAT read: R Time:17:02:58.0427 

2025-06-05T17:02:59.369Z,1749142979.369 [DAT](INFO): unknown deviceResponse_: R Time:17:02:58.0427 

2025-06-05T17:02:59.370Z,1749142979.370 [DAT](INFO): DAT read: Bearing  41.8,  81.3 (Local)

2025-06-05T17:02:59.371Z,1749142979.371 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.8,  81.3 (Local)

2025-06-05T17:02:59.373Z,1749142979.373 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:02:59.398Z,1749142979.398 [DAT](INFO): DAT read: 17:02:58.0427 LVL= 18032, 29153, 19874, 32755, AGC= 46, IDX= 500,-0.25,-1.140,-1.297,-1.206,-2.514, PHS= 1.461, 1.264, 1.305, RAW= 101.3, -82.8, CAL= 108.2, -81.3, ROT=  41.8,  81.3

2025-06-05T17:02:59.400Z,1749142979.400 [DAT](INFO): got valid direction response:
 17:02:58.0427 LVL= 18032, 29153, 19874, 32755, AGC= 46, IDX= 500,-0.25,-1.140,-1.297,-1.206,-2.514, PHS= 1.461, 1.264, 1.305, RAW= 101.3, -82.8, CAL= 108.2, -81.3, ROT=  41.8,  81.3

2025-06-05T17:02:59.401Z,1749142979.401 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:02:59.402Z,1749142979.402 [DAT](INFO): direction in FSK: [0.112761,0.100820,-0.988494]
2025-06-05T17:02:59.407Z,1749142979.407 [DAT](INFO): publishing direction and range info
2025-06-05T17:02:59.410Z,1749142979.410 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:02:59.419Z,1749142979.419 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:02:59.621Z,1749142979.621 [DAT](INFO): Reached modem response timeout
2025-06-05T17:02:59.622Z,1749142979.622 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:02:59.627Z,1749142979.627 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:02:59.872Z,1749142979.872 [DAT](INFO): DAT read: Rx Time:17:02:58.5428 

2025-06-05T17:02:59.872Z,1749142979.872 [DAT](INFO): Rx dataTimestamp_ set to:1749142979.872045
2025-06-05T17:02:59.877Z,1749142979.877 [DAT](INFO): DAT read: Bearing  54.2,  82.3 (Local)
Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:59.878Z,1749142979.878 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.2,  82.3 (Local)
Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T17:02:59.884Z,1749142979.884 [DAT](INFO): DAT read: 17:02:58.5428 LVL= 18240, 29473, 20082, 32755, AGC= 48, IDX= 501,-0.20, 0.018,-0.119,-0.071,-1.381, PHS= 1.488, 1.310, 1.308, RAW=  89.4, -83.0, CAL=  95.8, -82.3, ROT=  54.2,  82.3

2025-06-05T17:02:59.885Z,1749142979.885 [DAT](INFO): got valid direction response:
 17:02:58.5428 LVL= 18240, 29473, 20082, 32755, AGC= 48, IDX= 501,-0.20, 0.018,-0.119,-0.071,-1.381, PHS= 1.488, 1.310, 1.308, RAW=  89.4, -83.0, CAL=  95.8, -82.3, ROT=  54.2,  82.3

2025-06-05T17:02:59.885Z,1749142979.885 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T17:02:59.887Z,1749142979.887 [DAT](INFO): direction in FSK: [0.078376,0.108671,-0.990983]
2025-06-05T17:02:59.890Z,1749142979.890 [DAT](INFO): Reached modem response timeout
2025-06-05T17:02:59.890Z,1749142979.890 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:02:59.894Z,1749142979.894 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:00.124Z,1749142980.124 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:00.125Z,1749142980.125 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:00.126Z,1749142980.126 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:00.377Z,1749142980.377 [DAT](INFO): DAT read: Rx Time:17:02:59.0427 

2025-06-05T17:03:00.377Z,1749142980.377 [DAT](INFO): Rx dataTimestamp_ set to:1749142980.377179
2025-06-05T17:03:00.379Z,1749142980.379 [DAT](INFO): DAT read: Bearing  51.5,  75.1 (Lcal

2025-06-05T17:03:00.380Z,1749142980.380 [DAT](INFO): unknown deviceResponse_: Bearing  51.5,  75.1 (Lcal

2025-06-05T17:03:00.382Z,1749142980.382 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T17:03:00.388Z,1749142980.388 [DAT](INFO): DAT read: 17:02:59.0427 LVL= 18368, 30081, 20514, 32755, AGC= 48, IDX= 500,-0.19,-0.398,-0.689,-0.666,-1.912, PHS= 1.602, 1.269, 1.242, RAW=  86.2, -76.6, CAL=  98.5, -75.1, ROT=  51.5,  75.1

2025-06-05T17:03:00.389Z,1749142980.389 [DAT](INFO): got valid direction response:
 17:02:59.0427 LVL= 18368, 30081, 20514, 32755, AGC= 48, IDX= 500,-0.19,-0.398,-0.689,-0.666,-1.912, PHS= 1.602, 1.269, 1.242, RAW=  86.2, -76.6, CAL=  98.5, -75.1, ROT=  51.5,  75.1

2025-06-05T17:03:00.390Z,1749142980.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:03:00.391Z,1749142980.391 [DAT](INFO): direction in FSK: [0.160069,0.201234,-0.966376]
2025-06-05T17:03:00.391Z,1749142980.391 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:00.395Z,1749142980.395 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:00.395Z,1749142980.395 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:00.631Z,1749142980.631 [DAT](INFO): DAT read: Rx Time:17:02:59.5426 

2025-06-05T17:03:00.632Z,1749142980.632 [DAT](INFO): Rx dataTimestamp_ set to:1749142980.631028
2025-06-05T17:03:00.633Z,1749142980.633 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:00.633Z,1749142980.633 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:00.635Z,1749142980.635 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:00.880Z,1749142980.880 [DAT](INFO): DAT read: Bearing  40.9,  75.5 (Local)

2025-06-05T17:03:00.880Z,1749142980.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.9,  75.5 (Local)

2025-06-05T17:03:00.882Z,1749142980.882 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip tie .8ms) speed 0.0

2025-06-05T17:03:00.888Z,1749142980.888 [DAT](INFO): DAT read: 17:02:59.5426 LVL= 18928, 27889, 20594, 32755, AGC= 48, IDX= 500,-0.18,-0.287,-0.589,-0.489,-1.827, PHS= 1.628, 1.286, 1.335, RAW=  97.7, -77.9, CAL= 109.1, -75.5, ROT=  40.9,  75.5

2025-06-05T17:03:00.889Z,1749142980.889 [DAT](INFO): got valid direction response:
 17:02:59.5426 LVL= 18928, 27889, 20594, 32755, AGC= 48, IDX= 500,-0.18,-0.287,-0.589,-0.489,-1.827, PHS= 1.628, 1.286, 1.335, RAW=  97.7, -77.9, CAL= 109.1, -75.5, ROT=  40.9,  75.5

2025-06-05T17:03:00.889Z,1749142980.889 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:03:00.890Z,1749142980.890 [DAT](INFO): direction in FSK: [0.189251,0.163934,-0.968148]
2025-06-05T17:03:00.890Z,1749142980.890 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:00.894Z,1749142980.894 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:00.894Z,1749142980.894 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:01.134Z,1749142981.134 [DAT](INFO): DAT read: Rx Time:17:03:00.0425 

2025-06-05T17:03:01.135Z,1749142981.135 [DAT](INFO): Rx dataTimestamp_ set to:1749142981.134773
2025-06-05T17:03:01.137Z,1749142981.137 [DAT](INFO): DAT read: Bearing  39.5,  71.7 (Local)

2025-06-05T17:03:01.139Z,1749142981.139 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.5,  71.7 (Local)

2025-06-05T17:03:01.140Z,1749142981.140 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:01.141Z,1749142981.141 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:01.141Z,1749142981.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:01.385Z,1749142981.385 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T17:03:01.390Z,1749142981.390 [DAT](INFO): DAT read: 17:03:00.425LL= 23328, 30145, 23538, 32755, AGC= 49, IDX= 499,-0.17,-0.820,-1.193,-1.093,-2.364, PHS= 1.632, 1.219, 1.268, RAW=  96.3, -75.0, CAL= 110.5, -71.7, ROT=  39.5,  71.7

2025-06-05T17:03:01.391Z,1749142981.391 [DAT](INFO): unknown deviceResponse_: 17:03:00.425LL= 23328, 30145, 23538, 32755, AGC= 49, IDX= 499,-0.17,-0.820,-1.193,-1.093,-2.364, PHS= 1.632, 1.219, 1.268, RAW=  96.3, -75.0, CAL= 110.5, -71.7, ROT=  39.5,  71.7

2025-06-05T17:03:01.391Z,1749142981.391 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:03:01.392Z,1749142981.392 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:01.392Z,1749142981.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:01.637Z,1749142981.637 [DAT](INFO): DAT read: Rx Time:17:03:00.5426 

2025-06-05T17:03:01.638Z,1749142981.638 [DAT](INFO): Rx dataTimestamp_ set to:1749142981.637729
2025-06-05T17:03:01.641Z,1749142981.641 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:03:01.643Z,1749142981.643 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:03:01.644Z,1749142981.644 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:01.645Z,1749142981.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:01.887Z,1749142981.887 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:01.887Z,1749142981.887 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:01.887Z,1749142981.887 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:02.139Z,1749142982.139 [DAT](INFO): DAT read: Rx Time:17:03:01.0425 

2025-06-05T17:03:02.140Z,1749142982.140 [DAT](INFO): Rx dataTimestamp_ set to:1749142982.139600
2025-06-05T17:03:02.141Z,1749142982.141 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T17:03:02.142Z,1749142982.142 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:03:02.142Z,1749142982.142 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:02.143Z,1749142982.143 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:02.391Z,1749142982.391 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:02.391Z,1749142982.391 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:02.391Z,1749142982.391 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:02.643Z,1749142982.643 [DAT](INFO): DAT read: Rx Time:17:03:01.5426 

2025-06-05T17:03:02.644Z,1749142982.644 [DAT](INFO): Rx dataTimestamp_ set to:1749142982.643581
2025-06-05T17:03:02.645Z,1749142982.645 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:03:02.646Z,1749142982.646 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:03:02.646Z,1749142982.646 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:02.647Z,1749142982.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:02.895Z,1749142982.895 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:02.895Z,1749142982.895 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:02.895Z,1749142982.895 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:03.148Z,1749142983.148 [DAT](INFO): DAT read: Rx Time:17:03:02.0425 

2025-06-05T17:03:03.149Z,1749142983.149 [DAT](INFO): Rx dataTimestamp_ set to:1749142983.148267
2025-06-05T17:03:03.155Z,1749142983.155 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T17:03:03.156Z,1749142983.156 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:03:03.157Z,1749142983.157 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:03.157Z,1749142983.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:03.402Z,1749142983.402 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:03.402Z,1749142983.402 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:03.402Z,1749142983.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:03.656Z,1749142983.656 [DAT](INFO): DAT read: Rx Time:17:03:02.5426 

2025-06-05T17:03:03.657Z,1749142983.657 [DAT](INFO): Rx dataTimestamp_ set to:1749142983.656216
2025-06-05T17:03:03.659Z,1749142983.659 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:03:03.660Z,1749142983.660 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:03:03.661Z,1749142983.661 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:03.661Z,1749142983.661 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:03.907Z,1749142983.907 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:03.907Z,1749142983.907 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:03.907Z,1749142983.907 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:04.159Z,1749142984.159 [DAT](INFO): DAT read: Rx Time:17:03:03.0425 

2025-06-05T17:03:04.160Z,1749142984.160 [DAT](INFO): Rx dataTimestamp_ set to:1749142984.159429
2025-06-05T17:03:04.161Z,1749142984.161 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T17:03:04.161Z,1749142984.161 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:03:04.162Z,1749142984.162 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:04.162Z,1749142984.162 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:04.411Z,1749142984.411 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:04.411Z,1749142984.411 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:04.411Z,1749142984.411 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:04.667Z,1749142984.667 [DAT](INFO): DAT read: Rx Time:17:03:03.5426 

2025-06-05T17:03:04.669Z,1749142984.669 [DAT](INFO): Rx dataTimestamp_ set to:1749142984.668217
2025-06-05T17:03:04.673Z,1749142984.673 [DAT](INFO): DAT read: Bearing  46.7,  57.2 (Local)

2025-06-05T17:03:04.674Z,1749142984.674 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.7,  57.2 (Local)

2025-06-05T17:03:04.679Z,1749142984.679 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T17:03:04.679Z,1749142984.679 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:03:04.680Z,1749142984.680 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:04.680Z,1749142984.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:04.920Z,1749142984.920 [DAT](INFO): DAT read: 17:03:03.5426 LVL= 24416, 27633, 29282, 32755, AGC= 48, IDX= 499, 0.03, 2.705, 2.035, 1.925, 0.950, PHS= 1.842, 1.132, 0.971, RAW=  80.0, -60.1, CAL= 103.3, -57.2, ROT=  46.7,  57.2

2025-06-05T17:03:04.921Z,1749142984.921 [DAT](INFO): got valid direction response:
 17:03:03.5426 LVL= 24416, 27633, 29282, 32755, AGC= 48, IDX= 499, 0.03, 2.705, 2.035, 1.925, 0.950, PHS= 1.842, 1.132, 0.971, RAW=  80.0, -60.1, CAL= 103.3, -57.2, ROT=  46.7,  57.2

2025-06-05T17:03:04.921Z,1749142984.921 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T17:03:04.929Z,1749142984.929 [DAT](INFO): direction in FSK: [0.371513,0.394240,-0.840567]
2025-06-05T17:03:04.944Z,1749142984.944 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:04.944Z,1749142984.944 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:04.945Z,1749142984.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:05.171Z,1749142985.171 [DAT](INFO): DAT read: Rx Time:17:03:04.0425 

2025-06-05T17:03:05.173Z,1749142985.173 [DAT](INFO): Rx dataTimestamp_ set to:1749142985.172253
2025-06-05T17:03:05.179Z,1749142985.179 [DAT](INFO): DAT read: Bearing  48.4,  56.1 (Local)

2025-06-05T17:03:05.179Z,1749142985.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.4,  56.1 (Local)

2025-06-05T17:03:05.181Z,1749142985.181 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T17:03:05.182Z,1749142985.182 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:03:05.183Z,1749142985.183 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:05.184Z,1749142985.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:05.423Z,1749142985.423 [DAT](INFO): DAT read: 17:03:04.0425 LVL= 23712, 30897, 32306, 32755, AGC= 48, IDX= 498, 0.05, 2.173, 1.458, 1.309, 0.358, PHS= 1.903, 1.147, 0.948, RAW=  78.6, -58.3, CAL= 101.6, -56.1, ROT=  48.4,  56.1

2025-06-05T17:03:05.424Z,1749142985.424 [DAT](INFO): got valid direction response:
 17:03:04.0425 LVL= 23712, 30897, 32306, 32755, AGC= 48, IDX= 498, 0.05, 2.173, 1.458, 1.309, 0.358, PHS= 1.903, 1.147, 0.948, RAW=  78.6, -58.3, CAL= 101.6, -56.1, ROT=  48.4,  56.1

2025-06-05T17:03:05.424Z,1749142985.424 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T17:03:05.425Z,1749142985.425 [DAT](INFO): direction in FSK: [0.370302,0.417081,-0.830012]
2025-06-05T17:03:05.428Z,1749142985.428 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:05.428Z,1749142985.428 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:05.429Z,1749142985.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:05.679Z,1749142985.679 [DAT](INFO): DAT read: Rx Time:17:03:04.5421 

2025-06-05T17:03:05.679Z,1749142985.679 [DAT](INFO): Rx dataTimestamp_ set to:1749142985.678978
2025-06-05T17:03:05.680Z,1749142985.680 [DAT](INFO): DAT read: Bearing  47.6,  52.3 (Local)

2025-06-05T17:03:05.681Z,1749142985.681 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.6,  52.3 (Local)

2025-06-05T17:03:05.683Z,1749142985.683 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T17:03:05.683Z,1749142985.683 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:03:05.684Z,1749142985.684 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:05.684Z,1749142985.684 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:05.931Z,1749142985.931 [DAT](INFO): DAT read: 17:03:04.5421 LVL= 26368, 24817, 25666, 32755, AGC= 48, IDX= 499, 0.06,-3.055, 2.371, 2.240, 1.379, PHS= 1.936, 1.039, 0.858, RAW=  81.0, -53.6, CAL= 102.4, -52.3, ROT=  47.6,  52.3

2025-06-05T17:03:05.932Z,1749142985.932 [DAT](INFO): got valid direction response:
 17:03:04.5421 LVL= 26368, 24817, 25666, 32755, AGC= 48, IDX= 499, 0.06,-3.055, 2.371, 2.240, 1.379, PHS= 1.936, 1.039, 0.858, RAW=  81.0, -53.6, CAL= 102.4, -52.3, ROT=  47.6,  52.3

2025-06-05T17:03:05.933Z,1749142985.933 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T17:03:05.935Z,1749142985.935 [DAT](INFO): direction in FSK: [0.412354,0.451585,-0.791224]
2025-06-05T17:03:05.938Z,1749142985.938 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:05.938Z,1749142985.938 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:05.938Z,1749142985.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:06.179Z,1749142986.179 [DAT](INFO): DAT read: Rx Time:17:03:05.0420 

2025-06-05T17:03:06.180Z,1749142986.180 [DAT](INFO): Rx dataTimestamp_ set to:1749142986.179437
2025-06-05T17:03:06.181Z,1749142986.181 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-06-05T17:03:06.181Z,1749142986.181 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:03:06.183Z,1749142986.183 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:06.184Z,1749142986.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:06.431Z,1749142986.431 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:06.431Z,1749142986.431 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:06.431Z,1749142986.431 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:06.683Z,1749142986.683 [DAT](INFO): DAT read: Rx Time:17:03:05.5421 

2025-06-05T17:03:06.684Z,1749142986.684 [DAT](INFO): Rx dataTimestamp_ set to:1749142986.683531
2025-06-05T17:03:06.685Z,1749142986.685 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T17:03:06.686Z,1749142986.686 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:03:06.686Z,1749142986.686 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:06.687Z,1749142986.687 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:06.935Z,1749142986.935 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:06.935Z,1749142986.935 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:06.935Z,1749142986.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:07.188Z,1749142987.188 [DAT](INFO): DAT read: Rx Time:17:03:06.0420 

2025-06-05T17:03:07.188Z,1749142987.188 [DAT](INFO): Rx dataTimestamp_ set to:1749142987.187784
2025-06-05T17:03:07.191Z,1749142987.191 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-06-05T17:03:07.192Z,1749142987.192 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:03:07.193Z,1749142987.193 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:07.193Z,1749142987.193 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:07.439Z,1749142987.439 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:07.439Z,1749142987.439 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:07.439Z,1749142987.439 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:07.691Z,1749142987.691 [DAT](INFO): DAT read: Rx Time:17:03:06.5420 

2025-06-05T17:03:07.692Z,1749142987.692 [DAT](INFO): Rx dataTimestamp_ set to:1749142987.691666
2025-06-05T17:03:07.693Z,1749142987.693 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-06-05T17:03:07.694Z,1749142987.694 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:03:07.694Z,1749142987.694 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:07.695Z,1749142987.695 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:07.943Z,1749142987.943 [DAT](INFO): Reached modem response timeout
2025-06-05T17:03:07.943Z,1749142987.943 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:03:07.943Z,1749142987.943 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:03:08.195Z,1749142988.195 [DAT](INFO): DAT read: user:2556>

2025-06-05T17:03:08.196Z,1749142988.196 [DAT](INFO): DAT read: 0

2025-06-05T17:03:08.196Z,1749142988.196 [DAT](INFO): unknown deviceResponse_: 0

2025-06-05T17:03:08.196Z,1749142988.196 [DAT](INFO): DAT read: Ok

2025-06-05T17:03:08.197Z,1749142988.197 [DAT](INFO): unknown deviceResponse_: Ok

2025-06-05T17:03:08.197Z,1749142988.197 [DAT](INFO): DAT read: user:2557>

2025-06-05T17:03:08.198Z,1749142988.198 [DAT](INFO): DAT read: Tx time:17:03:07.4625

2025-06-05T17:03:08.198Z,1749142988.198 [DAT](INFO): Ping request sent.
2025-06-05T17:03:08.198Z,1749142988.198 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:08.199Z,1749142988.199 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:08.201Z,1749142988.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001570
2025-06-05T17:03:08.447Z,1749142988.447 [DAT](INFO): DAT read: TxSync time:17:03:07.4618

2025-06-05T17:03:08.448Z,1749142988.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249534
2025-06-05T17:03:08.701Z,1749142988.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502562
2025-06-05T17:03:08.953Z,1749142988.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754691
2025-06-05T17:03:09.203Z,1749142989.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005039
2025-06-05T17:03:09.455Z,1749142989.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256747
2025-06-05T17:03:09.708Z,1749142989.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509165
2025-06-05T17:03:09.959Z,1749142989.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760718
2025-06-05T17:03:10.211Z,1749142990.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012949
2025-06-05T17:03:10.464Z,1749142990.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265383
2025-06-05T17:03:10.715Z,1749142990.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516661
2025-06-05T17:03:10.968Z,1749142990.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769876
2025-06-05T17:03:11.220Z,1749142991.220 [DAT](INFO): DAT read: Rx Time:17:03:09.8693

2025-06-05T17:03:11.221Z,1749142991.221 [DAT](INFO): Rx dataTimestamp_ set to:1749142991.220839
2025-06-05T17:03:11.222Z,1749142991.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024114
2025-06-05T17:03:11.471Z,1749142991.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272987
2025-06-05T17:03:11.729Z,1749142991.729 [DAT](INFO): DAT read: 17:03:09.8694 LVL= 16576, 18417, 15490, 21699, AGC= 47, IDX= 242, 0.11,-2.323,-2.797,-2.646, 2.607, PHS= 1.441, 0.926, 1.027, RAW= 100.7, -68.5, CAL= 120.4, -62.0, ROT=  29.6,  62.0

2025-06-05T17:03:11.730Z,1749142991.730 [DAT](INFO): got valid direction response:
 17:03:09.8694 LVL= 16576, 18417, 15490, 21699, AGC= 47, IDX= 242, 0.11,-2.323,-2.797,-2.646, 2.607, PHS= 1.441, 0.926, 1.027, RAW= 100.7, -68.5, CAL= 120.4, -62.0, ROT=  29.6,  62.0

2025-06-05T17:03:11.731Z,1749142991.731 [DAT](INFO): DAT read: Bearing  29.6,  62.0 (Local)

2025-06-05T17:03:11.731Z,1749142991.731 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.6,  62.0 (Local)

2025-06-05T17:03:11.739Z,1749142991.739 [DAT](INFO): DAT read: Range 10 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-06-05T17:03:11.742Z,1749142991.742 [DAT](INFO): DAT read: user:2558>

2025-06-05T17:03:11.744Z,1749142991.744 [DAT](INFO): DAT read: Tx time:17:03:10.9626

2025-06-05T17:03:11.745Z,1749142991.745 [DAT](INFO): Ping request sent.
2025-06-05T17:03:11.745Z,1749142991.745 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:11.745Z,1749142991.745 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:03:11.747Z,1749142991.747 [DAT](INFO): direction in FSK: [0.408203,0.231892,-0.882948]
2025-06-05T17:03:11.747Z,1749142991.747 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:11.747Z,1749142991.747 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:11.750Z,1749142991.750 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:11.751Z,1749142991.751 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:11.975Z,1749142991.975 [DAT](INFO): DAT read: TxSync time:17:03:10.9619

2025-06-05T17:03:14.747Z,1749142994.747 [DAT](INFO): DAT read: Rx Time:17:03:13.3692

2025-06-05T17:03:14.748Z,1749142994.748 [DAT](INFO): Rx dataTimestamp_ set to:1749142994.747458
2025-06-05T17:03:15.257Z,1749142995.257 [DAT](INFO): DAT read: 17:03:13.3692 LVL= 19248, 27185, 21026, 32755, AGC= 48, IDX= 434,-0.22, 1.896, 1.529, 1.601, 0.312, PHS= 1.672, 1.265, 1.286, RAW=  92.7, -75.1, CAL= 106.8, -72.4, ROT=  43.2,  72.4

2025-06-05T17:03:15.258Z,1749142995.258 [DAT](INFO): got valid direction response:
 17:03:13.3692 LVL= 19248, 27185, 21026, 32755, AGC= 48, IDX= 434,-0.22, 1.896, 1.529, 1.601, 0.312, PHS= 1.672, 1.265, 1.286, RAW=  92.7, -75.1, CAL= 106.8, -72.4, ROT=  43.2,  72.4

2025-06-05T17:03:15.259Z,1749142995.259 [DAT](INFO): DAT read: Bearing  43.2,  72.4 (Local)

2025-06-05T17:03:15.260Z,1749142995.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing  43.2,  72.4 (Local)

2025-06-05T17:03:15.261Z,1749142995.261 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-06-05T17:03:15.262Z,1749142995.262 [DAT](INFO): DAT read: user:2559>

2025-06-05T17:03:15.262Z,1749142995.262 [DAT](INFO): DAT read: Tx time:17:03:14.4626

2025-06-05T17:03:15.263Z,1749142995.263 [DAT](INFO): Ping request sent.
2025-06-05T17:03:15.263Z,1749142995.263 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:15.263Z,1749142995.263 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-05T17:03:15.264Z,1749142995.264 [DAT](INFO): direction in FSK: [0.220418,0.206986,-0.953191]
2025-06-05T17:03:15.264Z,1749142995.264 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:15.265Z,1749142995.265 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:15.269Z,1749142995.269 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:15.269Z,1749142995.269 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:15.503Z,1749142995.503 [DAT](INFO): DAT read: TxSync time:17:03:14.4619

2025-06-05T17:03:18.276Z,1749142998.276 [DAT](INFO): DAT read: Rx Time:17:03:16.8692

2025-06-05T17:03:18.276Z,1749142998.276 [DAT](INFO): Rx dataTimestamp_ set to:1749142998.275815
2025-06-05T17:03:18.789Z,1749142998.789 [DAT](INFO): DAT read: 17:03:16.8692 LVL= 26064, 28721, 32098, 32755, AGC= 48, IDX= 433, 0.22,-2.228,-2.978,-3.000, 2.331, PHS= 1.812, 1.021, 0.949, RAW=  85.7, -58.2, CAL= 107.5, -55.1, ROT=  42.5,  55.1

2025-06-05T17:03:18.790Z,1749142998.790 [DAT](INFO): got valid direction response:
 17:03:16.8692 LVL= 26064, 28721, 32098, 32755, AGC= 48, IDX= 433, 0.22,-2.228,-2.978,-3.000, 2.331, PHS= 1.812, 1.021, 0.949, RAW=  85.7, -58.2, CAL= 107.5, -55.1, ROT=  42.5,  55.1

2025-06-05T17:03:18.791Z,1749142998.791 [DAT](INFO): DAT read: Bearing  42.5,  55.1 (Local)

2025-06-05T17:03:18.791Z,1749142998.791 [DAT](INFO): Local bearing/azimuth received:
 Bearing  42.5,  55.1 (Local)

2025-06-05T17:03:18.793Z,1749142998.793 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-06-05T17:03:18.793Z,1749142998.793 [DAT](INFO): DAT read: user:2560>

2025-06-05T17:03:18.795Z,1749142998.795 [DAT](INFO): DAT read: Tx time:17:03:17.9626

2025-06-05T17:03:18.795Z,1749142998.795 [DAT](INFO): Ping request sent.
2025-06-05T17:03:18.795Z,1749142998.795 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:18.795Z,1749142998.795 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-05T17:03:18.796Z,1749142998.796 [DAT](INFO): direction in FSK: [0.421830,0.386536,-0.820152]
2025-06-05T17:03:18.797Z,1749142998.797 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:18.797Z,1749142998.797 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:18.801Z,1749142998.801 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:18.801Z,1749142998.801 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:19.034Z,1749142999.034 [DAT](INFO): DAT read: TxSync time:17:03:17.9619

2025-06-05T17:03:19.601Z,1749142999.601 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:03:20.603Z,1749143000.603 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:03:21.803Z,1749143001.803 [DAT](INFO): DAT read: Rx Time:17:03:20.3684

2025-06-05T17:03:21.804Z,1749143001.804 [DAT](INFO): Rx dataTimestamp_ set to:1749143001.803357
2025-06-05T17:03:22.320Z,1749143002.320 [DAT](INFO): DAT read: 17:03:20.3684 LVL= 20640, 24385, 23762, 25395, AGC= 46, IDX= 428, 0.00, 1.401, 0.715, 0.956,-0.714, PHS= 2.203, 1.476, 1.668, RAW= 104.7, -71.0, CAL= 122.0, -64.9, ROT=  28.0,  64.9

2025-06-05T17:03:22.323Z,1749143002.323 [DAT](INFO): got valid direction response:
 17:03:20.3684 LVL= 20640, 24385, 23762, 25395, AGC= 46, IDX= 428, 0.00, 1.401, 0.715, 0.956,-0.714, PHS= 2.203, 1.476, 1.668, RAW= 104.7, -71.0, CAL= 122.0, -64.9, ROT=  28.0,  64.9

2025-06-05T17:03:22.324Z,1749143002.324 [DAT](INFO): DAT read: Bearing  28.0,  64.9 (Local)

2025-06-05T17:03:22.324Z,1749143002.324 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.0,  64.9 (Local)

2025-06-05T17:03:22.327Z,1749143002.327 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.6 ms) speed  0.0 m/s

2025-06-05T17:03:22.328Z,1749143002.328 [DAT](INFO): DAT read: user:2561>

2025-06-05T17:03:22.329Z,1749143002.329 [DAT](INFO): DAT read: Tx time:17:03:21.4626

2025-06-05T17:03:22.329Z,1749143002.329 [DAT](INFO): Ping request sent.
2025-06-05T17:03:22.329Z,1749143002.329 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:22.330Z,1749143002.330 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-05T17:03:22.333Z,1749143002.333 [DAT](INFO): direction in FSK: [0.374546,0.199150,-0.905569]
2025-06-05T17:03:22.336Z,1749143002.336 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:22.337Z,1749143002.337 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:22.373Z,1749143002.373 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:22.374Z,1749143002.374 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:22.563Z,1749143002.563 [DAT](INFO): DAT read: TxSync time:17:03:21.4620

2025-06-05T17:03:25.336Z,1749143005.336 [DAT](INFO): DAT read: Rx Time:17:03:23.8688

2025-06-05T17:03:25.337Z,1749143005.337 [DAT](INFO): Rx dataTimestamp_ set to:1749143005.336442
2025-06-05T17:03:25.845Z,1749143005.845 [DAT](INFO): DAT read: 17:03:23.8688 LVL= 14864, 16561, 13218, 20723, AGC= 45, IDX= 444,-0.15, 2.965, 2.591,-2.791, 1.771, PHS= 1.282, 0.867, 1.718, RAW= 180.8, -61.7, CAL= 178.4, -55.6, ROT= 331.6,  55.6

2025-06-05T17:03:25.846Z,1749143005.846 [DAT](INFO): got valid direction response:
 17:03:23.8688 LVL= 14864, 16561, 13218, 20723, AGC= 45, IDX= 444,-0.15, 2.965, 2.591,-2.791, 1.771, PHS= 1.282, 0.867, 1.718, RAW= 180.8, -61.7, CAL= 178.4, -55.6, ROT= 331.6,  55.6

2025-06-05T17:03:25.847Z,1749143005.847 [DAT](INFO): DAT read: Bearing 331.6,  55.6 (Local)

2025-06-05T17:03:25.848Z,1749143005.848 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.6,  55.6 (Local)

2025-06-05T17:03:25.850Z,1749143005.850 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m  (Round-trip  1.9 ms) speed  0.0 m/s

2025-06-05T17:03:25.851Z,1749143005.851 [DAT](INFO): DAT read: user:2562>

2025-06-05T17:03:25.852Z,1749143005.852 [DAT](INFO): DAT read: Tx time:17:03:24.9627

2025-06-05T17:03:25.852Z,1749143005.852 [DAT](INFO): Ping request sent.
2025-06-05T17:03:25.852Z,1749143005.852 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:25.852Z,1749143005.852 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-05T17:03:25.853Z,1749143005.853 [DAT](INFO): direction in FSK: [0.496972,-0.268712,-0.825113]
2025-06-05T17:03:25.854Z,1749143005.854 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:25.855Z,1749143005.855 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:25.891Z,1749143005.891 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:25.891Z,1749143005.891 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:26.093Z,1749143006.093 [DAT](INFO): DAT read: TxSync time:17:03:24.9620

2025-06-05T17:03:28.863Z,1749143008.863 [DAT](INFO): DAT read: Rx Time:17:03:27.3695

2025-06-05T17:03:28.864Z,1749143008.864 [DAT](INFO): Rx dataTimestamp_ set to:1749143008.863598
2025-06-05T17:03:29.377Z,1749143009.377 [DAT](INFO): DAT read: 17:03:27.3695 LVL= 17824, 28433, 19954, 32755, AGC= 4 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-06-05T17:03:29.378Z,1749143009.378 [DAT](INFO): unknown deviceResponse_: 17:03:27.3695 LVL= 17824, 28433, 19954, 32755, AGC= 4 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-06-05T17:03:29.378Z,1749143009.378 [DAT](INFO): DAT read: user:2563>

2025-06-05T17:03:29.379Z,1749143009.379 [DAT](INFO): DAT read: Tx time:17:03:28.4627

2025-06-05T17:03:29.380Z,1749143009.380 [DAT](INFO): Ping request sent.
2025-06-05T17:03:29.380Z,1749143009.380 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:29.380Z,1749143009.380 [DAT](INFO): DAT read: TxSync time:17:03:28.4620

2025-06-05T17:03:29.381Z,1749143009.381 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:30.049Z,1749143010.049 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T17:03:32.149Z,1749143012.149 [DAT](INFO): DAT read: Rx Time:17:03:30.8694

2025-06-05T17:03:32.149Z,1749143012.149 [DAT](INFO): Rx dataTimestamp_ set to:1749143012.148741
2025-06-05T17:03:32.909Z,1749143012.909 [DAT](INFO): DAT read: 17:03:30.8694 LVL= 21136, 23201, 22146, 23347, AGC= 47, IDX= 434,-0.05,-2.229,-2.675,-2.123, 2.646, PHS= 1.496, 1.009, 1.511, RAW= 151.5, -70.8, CAL= 158.2, -60.8, ROT= 351.8,  60.8

2025-06-05T17:03:32.912Z,1749143012.912 [DAT](INFO): got valid direction response:
 17:03:30.8694 LVL= 21136, 23201, 22146, 23347, AGC= 47, IDX= 434,-0.05,-2.229,-2.675,-2.123, 2.646, PHS= 1.496, 1.009, 1.511, RAW= 151.5, -70.8, CAL= 158.2, -60.8, ROT= 351.8,  60.8

2025-06-05T17:03:32.913Z,1749143012.913 [DAT](INFO): DAT read: Bearing 351.8,  60.8 (Local)

2025-06-05T17:03:32.914Z,1749143012.914 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.8,  60.8 (Local)

2025-06-05T17:03:32.916Z,1749143012.916 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-06-05T17:03:32.917Z,1749143012.917 [DAT](INFO): DAT read: user:2564>

2025-06-05T17:03:32.927Z,1749143012.927 [DAT](INFO): DAT read: Tx time:17:03:31.9627

2025-06-05T17:03:32.927Z,1749143012.927 [DAT](INFO): Ping request sent.
2025-06-05T17:03:32.927Z,1749143012.927 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:32.928Z,1749143012.928 [DAT](INFO): DAT read: TxSync time:17:03:31.9620

2025-06-05T17:03:32.928Z,1749143012.928 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-05T17:03:32.929Z,1749143012.929 [DAT](INFO): direction in FSK: [0.482872,-0.069583,-0.872922]
2025-06-05T17:03:32.930Z,1749143012.930 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:32.930Z,1749143012.930 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:32.944Z,1749143012.944 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:32.945Z,1749143012.945 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:35.679Z,1749143015.679 [DAT](INFO): DAT read: Rx Time:17:03:34.3693

2025-06-05T17:03:35.680Z,1749143015.680 [DAT](INFO): Rx dataTimestamp_ set to:1749143015.679258
2025-06-05T17:03:36.215Z,1749143016.215 [DAT](INFO): DAT read: 17:03:34.3693 LVL= 20688, 25937, 24642, 28387, AGC= 47, IDX= 433, 0.12,-2.537, 2.790, 2.471, 1.688, PHS= 2.146, 1.150, 0.780, RAW=  74.9, -49.7, CAL=  95.9, -50.3, ROT=  54.1,  50.3

2025-06-05T17:03:36.218Z,1749143016.218 [DAT](INFO): got valid direction response:
 17:03:34.3693 LVL= 20688, 25937, 24642, 28387, AGC= 47, IDX= 433, 0.12,-2.537, 2.790, 2.471, 1.688, PHS= 2.146, 1.150, 0.780, RAW=  74.9, -49.7, CAL=  95.9, -50.3, ROT=  54.1,  50.3

2025-06-05T17:03:36.225Z,1749143016.225 [DAT](INFO): DAT read: Bearing  54.1,  50.3 (Local)

2025-06-05T17:03:36.231Z,1749143016.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.1,  50.3 (Local)

2025-06-05T17:03:36.240Z,1749143016.240 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-06-05T17:03:36.247Z,1749143016.247 [DAT](INFO): DAT read: user:2565>

2025-06-05T17:03:36.250Z,1749143016.250 [DAT](INFO): DAT read: Tx time:17:03:35.4628

2025-06-05T17:03:36.256Z,1749143016.256 [DAT](INFO): Ping request sent.
2025-06-05T17:03:36.256Z,1749143016.256 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:36.257Z,1749143016.257 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-05T17:03:36.276Z,1749143016.276 [DAT](INFO): direction in FSK: [0.374556,0.517429,-0.769400]
2025-06-05T17:03:36.277Z,1749143016.277 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:36.279Z,1749143016.279 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:36.302Z,1749143016.302 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:36.303Z,1749143016.303 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:36.435Z,1749143016.435 [DAT](INFO): DAT read: TxSync time:17:03:35.4621

2025-06-05T17:03:39.207Z,1749143019.207 [DAT](INFO): DAT read: Rx Time:17:03:37.8689

2025-06-05T17:03:39.208Z,1749143019.208 [DAT](INFO): Rx dataTimestamp_ set to:1749143019.207300
2025-06-05T17:03:39.718Z,1749143019.718 [DAT](INFO): DAT read: 17:03:37.8689 LVL= 19024, 22177, 19186, 26323, AGC= 47, IDX= 428, 0.19,-2.789, 2.809,-3.132, 1.933, PHS= 1.648, 0.923, 1.215, RAW= 113.6, -64.7, CAL= 130.5, -57.5, ROT=  19.5,  57.5

2025-06-05T17:03:39.723Z,1749143019.723 [DAT](INFO): got valid direction response:
 17:03:37.8689 LVL= 19024, 22177, 19186, 26323, AGC= 47, IDX= 428, 0.19,-2.789, 2.809,-3.132, 1.933, PHS= 1.648, 0.923, 1.215, RAW= 113.6, -64.7, CAL= 130.5, -57.5, ROT=  19.5,  57.5

2025-06-05T17:03:39.724Z,1749143019.724 [DAT](INFO): DAT read: Bearing  19.5,  57.5 (Local)

2025-06-05T17:03:39.724Z,1749143019.724 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.5,  57.5 (Local)

2025-06-05T17:03:39.725Z,1749143019.725 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m  (Round-trip  1.9 ms) speed  0.0 m/s

2025-06-05T17:03:39.726Z,1749143019.726 [DAT](INFO): DAT read: user:2566>

2025-06-05T17:03:39.727Z,1749143019.727 [DAT](INFO): DAT read: Tx time:17:03:38.9628

2025-06-05T17:03:39.727Z,1749143019.727 [DAT](INFO): Ping request sent.
2025-06-05T17:03:39.727Z,1749143019.727 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:39.728Z,1749143019.728 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-05T17:03:39.729Z,1749143019.729 [DAT](INFO): direction in FSK: [0.506481,0.179354,-0.843391]
2025-06-05T17:03:39.729Z,1749143019.729 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:39.729Z,1749143019.729 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:39.737Z,1749143019.737 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:39.737Z,1749143019.737 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:39.964Z,1749143019.964 [DAT](INFO): DAT read: TxSync time:17:03:38.9621

2025-06-05T17:03:42.736Z,1749143022.736 [DAT](INFO): DAT read: Rx Time:17:03:41.3696

2025-06-05T17:03:42.737Z,1749143022.737 [DAT](INFO): Rx dataTimestamp_ set to:1749143022.735947
2025-06-05T17:03:43.246Z,1749143023.246 [DAT](INFO): DAT read: 17:03:41.3696 LVL= 22256, 22257, 18402, 29683, AGC= 48, IDX= 451,-0.10, 1.955, 1.698, 1.961, 0.752, PHS= 1.290, 0.992, 1.205, RAW= 133.9, -77.8, CAL= 142.1, -72.2, ROT=   7.9,  72.2

2025-06-05T17:03:43.247Z,1749143023.247 [DAT](INFO): got valid direction response:
 17:03:41.3696 LVL= 22256, 22257, 18402, 29683, AGC= 48, IDX= 451,-0.10, 1.955, 1.698, 1.961, 0.752, PHS= 1.290, 0.992, 1.205, RAW= 133.9, -77.8, CAL= 142.1, -72.2, ROT=   7.9,  72.2

2025-06-05T17:03:43.248Z,1749143023.248 [DAT](INFO): DAT read: Bearing   7.9,  72.2 (Local)

2025-06-05T17:03:43.248Z,1749143023.248 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.9,  72.2 (Local)

2025-06-05T17:03:43.253Z,1749143023.253 [DAT](INFO): DAT read: Range 10 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-06-05T17:03:43.256Z,1749143023.256 [DAT](INFO): DAT read: user:2567>

2025-06-05T17:03:43.257Z,1749143023.257 [DAT](INFO): DAT read: Tx time:17:03:42.4628

2025-06-05T17:03:43.257Z,1749143023.257 [DAT](INFO): Ping request sent.
2025-06-05T17:03:43.257Z,1749143023.257 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:43.258Z,1749143023.258 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-05T17:03:43.259Z,1749143023.259 [DAT](INFO): direction in FSK: [0.302794,0.042016,-0.952129]
2025-06-05T17:03:43.259Z,1749143023.259 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:43.259Z,1749143023.259 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:43.265Z,1749143023.265 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:43.265Z,1749143023.265 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:43.491Z,1749143023.491 [DAT](INFO): DAT read: TxSync time:17:03:42.4621

2025-06-05T17:03:46.264Z,1749143026.264 [DAT](INFO): DAT read: Rx Time:17:03:44.8696

2025-06-05T17:03:46.264Z,1749143026.264 [DAT](INFO): Rx dataTimestamp_ set to:1749143026.263721
2025-06-05T17:03:46.769Z,1749143026.769 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-06-05T17:03:46.770Z,1749143026.770 [DAT](INFO): DAT read: user:2568>

2025-06-05T17:03:46.771Z,1749143026.771 [DAT](INFO): DAT read: Tx time:17:03:45.9629

2025-06-05T17:03:46.771Z,1749143026.771 [DAT](INFO): Ping request sent.
2025-06-05T17:03:46.771Z,1749143026.771 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:46.772Z,1749143026.772 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-06-05T17:03:46.772Z,1749143026.772 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:46.772Z,1749143026.772 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:47.019Z,1749143027.019 [DAT](INFO): DAT read: TxSync time:17:03:45.9622

2025-06-05T17:03:47.982Z,1749143027.982 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-06-05T17:03:47.983Z,1749143027.983 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-06-05T17:03:48.002Z,1749143028.002 [DockingStepper](INFO): Changing to mode: 4
2025-06-05T17:03:48.002Z,1749143028.002 [DockingStepper](INFO): Slide mode.
2025-06-05T17:03:48.028Z,1749143028.028 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T17:03:48.067Z,1749143028.067 [DockingStepper](INFO): Commanding negative:34792
2025-06-05T17:03:48.279Z,1749143028.279 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T17:03:48.532Z,1749143028.532 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T17:03:49.791Z,1749143029.791 [DAT](INFO): DAT read: Rx Time:17:03:48.3692

2025-06-05T17:03:49.792Z,1749143029.792 [DAT](INFO): Rx dataTimestamp_ set to:1749143029.791228
2025-06-05T17:03:50.296Z,1749143030.296 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-05T17:03:50.297Z,1749143030.297 [DAT](INFO): DAT read: user:2569>

2025-06-05T17:03:50.297Z,1749143030.297 [DAT](INFO): DAT read: Tx time:17:03:49.4629

2025-06-05T17:03:50.298Z,1749143030.298 [DAT](INFO): Ping request sent.
2025-06-05T17:03:50.298Z,1749143030.298 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:50.298Z,1749143030.298 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-06-05T17:03:50.298Z,1749143030.298 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:50.300Z,1749143030.300 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:50.550Z,1749143030.550 [DAT](INFO): DAT read: TxSync time:17:03:49.4622

2025-06-05T17:03:50.724Z,1749143030.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:03:51.729Z,1749143031.729 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:03:53.319Z,1749143033.319 [DAT](INFO): DAT read: Rx Time:17:03:51.8684

2025-06-05T17:03:53.320Z,1749143033.320 [DAT](INFO): Rx dataTimestamp_ set to:1749143033.319533
2025-06-05T17:03:53.748Z,1749143033.748 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range. Device response is::WD,    0,        +0.00,        +0.00,
2025-06-05T17:03:53.831Z,1749143033.831 [DAT](INFO): DAT read: 17:03:51.8684 LVL= 17536, 28241, 30514, 32755, AGC= 48, IDX= 429, 0.22,-0.864,-0.614,-1.981,-0.130, PHS=-0.646,-0.437,-1.854, RAW=  22.1,  38.1, CAL=  16.3,  42.6, ROT= 133.7, -42.6

2025-06-05T17:03:53.833Z,1749143033.833 [DAT](INFO): got valid direction response:
 17:03:51.8684 LVL= 17536, 28241, 30514, 32755, AGC= 48, IDX= 429, 0.22,-0.864,-0.614,-1.981,-0.130, PHS=-0.646,-0.437,-1.854, RAW=  22.1,  38.1, CAL=  16.3,  42.6, ROT= 133.7, -42.6

2025-06-05T17:03:53.836Z,1749143033.836 [DAT](INFO): DAT read: Bearing 133.7, -42.6 (Local)

2025-06-05T17:03:53.836Z,1749143033.836 [DAT](INFO): Local bearing/azimuth received:
 Bearing 133.7, -42.6 (Local)

2025-06-05T17:03:53.839Z,1749143033.839 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-06-05T17:03:53.840Z,1749143033.840 [DAT](INFO): DAT read: user:2570>

2025-06-05T17:03:53.841Z,1749143033.841 [DAT](INFO): DAT read: Tx time:17:03:52.9629

2025-06-05T17:03:53.841Z,1749143033.841 [DAT](INFO): Ping request sent.
2025-06-05T17:03:53.841Z,1749143033.841 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:53.842Z,1749143033.842 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-05T17:03:53.845Z,1749143033.845 [DAT](INFO): direction in FSK: [-0.508557,0.532174,0.676876]
2025-06-05T17:03:53.845Z,1749143033.845 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:53.845Z,1749143033.845 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:53.858Z,1749143033.858 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:53.859Z,1749143033.859 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:54.076Z,1749143034.076 [DAT](INFO): DAT read: TxSync time:17:03:52.9622

2025-06-05T17:03:56.847Z,1749143036.847 [DAT](INFO): DAT read: Rx Time:17:03:55.3689

2025-06-05T17:03:56.848Z,1749143036.848 [DAT](INFO): Rx dataTimestamp_ set to:1749143036.847300
2025-06-05T17:03:57.357Z,1749143037.357 [DAT](INFO): DAT read: 17:03:55.3689 LVL= 15600, 22305, 29858, 32755, AGC= 45, IDX= 443,-0.06,-1.762,-2.004,-2.772,-2.976, PHS= 1.303, 1.020, 0.201, RAW=  44.3, -42.0, CAL=  62.6, -49.2, ROT=  87.4,  49.2

2025-06-05T17:03:57.359Z,1749143037.359 [DAT](INFO): got valid direction response:
 17:03:55.3689 LVL= 15600, 22305, 29858, 32755, AGC= 45, IDX= 443,-0.06,-1.762,-2.004,-2.772,-2.976, PHS= 1.303, 1.020, 0.201, RAW=  44.3, -42.0, CAL=  62.6, -49.2, ROT=  87.4,  49.2

2025-06-05T17:03:57.360Z,1749143037.360 [DAT](INFO): DAT read: Bearing  87.4,  49.2 (Local)

2025-06-05T17:03:57.360Z,1749143037.360 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.4,  49.2 (Local)

2025-06-05T17:03:57.361Z,1749143037.361 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m  (Round-trip  1.8 ms) speed  0.0 m/s

2025-06-05T17:03:57.362Z,1749143037.362 [DAT](INFO): DAT read: user:2571>

2025-06-05T17:03:57.363Z,1749143037.363 [DAT](INFO): DAT read: Tx time:17:03:56.4629

2025-06-05T17:03:57.363Z,1749143037.363 [DAT](INFO): Ping request sent.
2025-06-05T17:03:57.363Z,1749143037.363 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:03:57.363Z,1749143037.363 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-05T17:03:57.364Z,1749143037.364 [DAT](INFO): direction in FSK: [0.029641,0.652748,-0.756995]
2025-06-05T17:03:57.365Z,1749143037.365 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:57.365Z,1749143037.365 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:57.377Z,1749143037.377 [DAT](INFO): publishing transmit ping time
2025-06-05T17:03:57.378Z,1749143037.378 [DAT](INFO): publishing direction and range info
2025-06-05T17:03:57.605Z,1749143037.605 [DAT](INFO): DAT read: TxSync time:17:03:56.4622

2025-06-05T17:04:00.375Z,1749143040.375 [DAT](INFO): DAT read: Rx Time:17:03:58.8693

2025-06-05T17:04:00.376Z,1749143040.376 [DAT](INFO): Rx dataTimestamp_ set to:1749143040.375499
2025-06-05T17:04:00.886Z,1749143040.886 [DAT](INFO): DAT read: 17:03:58.8694 LVL= 22720, 31137, 25330, 27843, AGC= 43, IDX= 447,-0.48, 0.968,-0.029,-0.263,-0.350, PHS= 1.406, 0.368, 0.083, RAW=  78.2, -28.6, CAL=  93.2, -34.4, ROT=  56.8,  34.4

2025-06-05T17:04:00.887Z,1749143040.887 [DAT](INFO): got valid direction response:
 17:03:58.8694 LVL= 22720, 31137, 25330, 27843, AGC= 43, IDX= 447,-0.48, 0.968,-0.029,-0.263,-0.350, PHS= 1.406, 0.368, 0.083, RAW=  78.2, -28.6, CAL=  93.2, -34.4, ROT=  56.8,  34.4

2025-06-05T17:04:00.888Z,1749143040.888 [DAT](INFO): DAT read: Bearing  56.8,  34.4 (Local)

2025-06-05T17:04:00.889Z,1749143040.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.8,  34.4 (Local)

2025-06-05T17:04:00.890Z,1749143040.890 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-05T17:04:00.891Z,1749143040.891 [DAT](INFO): DAT read: user:2572>

2025-06-05T17:04:00.892Z,1749143040.892 [DAT](INFO): DAT read: Tx time:17:03:59.9630

2025-06-05T17:04:00.892Z,1749143040.892 [DAT](INFO): Ping request sent.
2025-06-05T17:04:00.892Z,1749143040.892 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:00.893Z,1749143040.893 [DAT](INFO): DAT read: TxSync time:17:03:59.9623

2025-06-05T17:04:00.893Z,1749143040.893 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-05T17:04:00.894Z,1749143040.894 [DAT](INFO): direction in FSK: [0.451802,0.690426,-0.564967]
2025-06-05T17:04:00.895Z,1749143040.895 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:00.895Z,1749143040.895 [DAT](INFO): publishing direction and range info
2025-06-05T17:04:00.898Z,1749143040.898 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:00.898Z,1749143040.898 [DAT](INFO): publishing direction and range info
2025-06-05T17:04:03.654Z,1749143043.654 [DAT](INFO): DAT read: Rx Time:17:04:02.3697

2025-06-05T17:04:03.660Z,1749143043.660 [DAT](INFO): Rx dataTimestamp_ set to:1749143043.659419
2025-06-05T17:04:04.415Z,1749143044.415 [DAT](INFO): DAT read: 17:04:02.3697 LVL= 26448, 32753, 32754, 32755, AGC= 46, IDX= 438,-0.02,-0.582,-1.604,-1.849,-1.660, PHS= 1.166, 0.102,-0.192, RAW=  78.1, -17.1, CAL=  90.6, -25.5, ROT=  59.4,  25.5

2025-06-05T17:04:04.417Z,1749143044.417 [DAT](INFO): got valid direction response:
 17:04:02.3697 LVL= 26448, 32753, 32754, 32755, AGC= 46, IDX= 438,-0.02,-0.582,-1.604,-1.849,-1.660, PHS= 1.166, 0.102,-0.192, RAW=  78.1, -17.1, CAL=  90.6, -25.5, ROT=  59.4,  25.5

2025-06-05T17:04:04.418Z,1749143044.418 [DAT](INFO): DAT read: Bearing  59.4,  25.5 (Local)

2025-06-05T17:04:04.419Z,1749143044.419 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.4,  25.5 (Local)

2025-06-05T17:04:04.420Z,1749143044.420 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-06-05T17:04:04.421Z,1749143044.421 [DAT](INFO): DAT read: user:2573>

2025-06-05T17:04:04.422Z,1749143044.422 [DAT](INFO): DAT read: Tx time:17:04:03.4630

2025-06-05T17:04:04.422Z,1749143044.422 [DAT](INFO): Ping request sent.
2025-06-05T17:04:04.426Z,1749143044.426 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:04.427Z,1749143044.427 [DAT](INFO): DAT read: TxSync time:17:04:03.4623

2025-06-05T17:04:04.427Z,1749143044.427 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-05T17:04:04.428Z,1749143044.428 [DAT](INFO): direction in FSK: [0.459453,0.776893,-0.430511]
2025-06-05T17:04:04.429Z,1749143044.429 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:04.429Z,1749143044.429 [DAT](INFO): publishing direction and range info
2025-06-05T17:04:04.440Z,1749143044.440 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:04.441Z,1749143044.441 [DAT](INFO): publishing direction and range info
2025-06-05T17:04:07.184Z,1749143047.184 [DAT](INFO): DAT read: Rx Time:17:04:05.8687

2025-06-05T17:04:07.185Z,1749143047.185 [DAT](INFO): Rx dataTimestamp_ set to:1749143047.184547
2025-06-05T17:04:07.692Z,1749143047.692 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-06-05T17:04:07.712Z,1749143047.712 [DAT](INFO): DAT read: user:2574>

2025-06-05T17:04:07.715Z,1749143047.715 [DAT](INFO): DAT read: Tx time:17:04:06.9630

2025-06-05T17:04:07.716Z,1749143047.716 [DAT](INFO): Ping request sent.
2025-06-05T17:04:07.716Z,1749143047.716 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:07.717Z,1749143047.717 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-06-05T17:04:07.718Z,1749143047.718 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:07.740Z,1749143047.740 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:07.939Z,1749143047.939 [DAT](INFO): DAT read: TxSync time:17:04:06.9623

2025-06-05T17:04:10.719Z,1749143050.719 [DAT](INFO): DAT read: Rx Time:17:04:09.3687

2025-06-05T17:04:10.719Z,1749143050.719 [DAT](INFO): Rx dataTimestamp_ set to:1749143050.719000
2025-06-05T17:04:11.221Z,1749143051.221 [DAT](INFO): DAT read: Range 10 to 50 : 1.0 m  (Round-trip  1.4 ms) speed -0.1 m/s

2025-06-05T17:04:11.222Z,1749143051.222 [DAT](INFO): DAT read: user:2575>

2025-06-05T17:04:11.223Z,1749143051.223 [DAT](INFO): DAT read: Tx time:17:04:10.4631

2025-06-05T17:04:11.224Z,1749143051.224 [DAT](INFO): Ping request sent.
2025-06-05T17:04:11.224Z,1749143051.224 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:11.225Z,1749143051.225 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-06-05T17:04:11.225Z,1749143051.225 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:11.226Z,1749143051.226 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:11.471Z,1749143051.471 [DAT](INFO): DAT read: TxSync time:17:04:10.4624

2025-06-05T17:04:14.243Z,1749143054.243 [DAT](INFO): DAT read: Rx Time:17:04:12.8700

2025-06-05T17:04:14.244Z,1749143054.244 [DAT](INFO): Rx dataTimestamp_ set to:1749143054.243252
2025-06-05T17:04:14.754Z,1749143054.754 [DAT](INFO): DAT read: 17:04:12.8700 LVL= 14192, 26689, 24818, 32755, AGC= 45, IDX= 437,-0.11, 1.016,-0.011,-0.316,-0.184, PHS= 1.288, 0.220,-0.135, RAW=  76.1, -20.7, CAL=  89.6, -28.4, ROT=  60.4,  28.4

2025-06-05T17:04:14.755Z,1749143054.755 [DAT](INFO): got valid direction response:
 17:04:12.8700 LVL= 14192, 26689, 24818, 32755, AGC= 45, IDX= 437,-0.11, 1.016,-0.011,-0.316,-0.184, PHS= 1.288, 0.220,-0.135, RAW=  76.1, -20.7, CAL=  89.6, -28.4, ROT=  60.4,  28.4

2025-06-05T17:04:14.756Z,1749143054.756 [DAT](INFO): DAT read: Bearing  60.4,  28.4 (Local)

2025-06-05T17:04:14.757Z,1749143054.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing  60.4,  28.4 (Local)

2025-06-05T17:04:14.758Z,1749143054.758 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-06-05T17:04:14.759Z,1749143054.759 [DAT](INFO): DAT read: user:2576>

2025-06-05T17:04:14.760Z,1749143054.760 [DAT](INFO): DAT read: Tx time:17:04:13.9631

2025-06-05T17:04:14.760Z,1749143054.760 [DAT](INFO): Ping request sent.
2025-06-05T17:04:14.760Z,1749143054.760 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:14.760Z,1749143054.760 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-05T17:04:14.761Z,1749143054.761 [DAT](INFO): direction in FSK: [0.434495,0.764850,-0.475624]
2025-06-05T17:04:14.762Z,1749143054.762 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:14.762Z,1749143054.762 [DAT](INFO): publishing direction and range info
2025-06-05T17:04:14.794Z,1749143054.794 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:14.807Z,1749143054.807 [DAT](INFO): publishing direction and range info
2025-06-05T17:04:15.000Z,1749143055.000 [DAT](INFO): DAT read: TxSync time:17:04:13.9624

2025-06-05T17:04:16.915Z,1749143056.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:04:17.015Z,1749143057.015 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:04:17.015Z,1749143057.015 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:04:17.015Z,1749143057.015 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:04:17.268Z,1749143057.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508248
2025-06-05T17:04:17.520Z,1749143057.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759223
2025-06-05T17:04:17.772Z,1749143057.772 [DAT](INFO): DAT read: Rx Time:17:04:16.3686

2025-06-05T17:04:17.773Z,1749143057.773 [DAT](INFO): Rx dataTimestamp_ set to:1749143057.772676
2025-06-05T17:04:17.775Z,1749143057.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013891
2025-06-05T17:04:18.025Z,1749143058.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264695
2025-06-05T17:04:18.276Z,1749143058.276 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-06-05T17:04:18.277Z,1749143058.277 [DAT](INFO): DAT read: user:2577>

2025-06-05T17:04:18.277Z,1749143058.277 [DAT](INFO): DAT read: Tx time:17:04:17.4631

2025-06-05T17:04:18.278Z,1749143058.278 [DAT](INFO): Ping request sent.
2025-06-05T17:04:18.278Z,1749143058.278 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:18.278Z,1749143058.278 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:04:18.278Z,1749143058.278 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:18.279Z,1749143058.279 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:18.529Z,1749143058.529 [DAT](INFO): DAT read: TxSync time:17:04:17.4624

2025-06-05T17:04:21.305Z,1749143061.305 [DAT](INFO): DAT read: Rx Time:17:04:19.8687

2025-06-05T17:04:21.306Z,1749143061.306 [DAT](INFO): Rx dataTimestamp_ set to:1749143061.305442
2025-06-05T17:04:21.813Z,1749143061.813 [DAT](INFO): DAT read: 17:04:19.8688 LVL= 12960, 16209, 16754, 18627, AGC= 46, IDX= 445,-0.06, 0.443,-0.301,-1.123,-0.175, PHS= 0.705,-0.079,-0.952, RAW=  58.2,   4.6, CAL=  58.1,   5.0, ROT=  91.9,  -5.0

2025-06-05T17:04:21.814Z,1749143061.814 [DAT](INFO): got valid direction response:
 17:04:19.8688 LVL= 12960, 16209, 16754, 18627, AGC= 46, IDX= 445,-0.06, 0.443,-0.301,-1.123,-0.175, PHS= 0.705,-0.079,-0.952, RAW=  58.2,   4.6, CAL=  58.1,   5.0, ROT=  91.9,  -5.0

2025-06-05T17:04:21.815Z,1749143061.815 [DAT](INFO): DAT read: Bearing  91.9,  -5.0 (Local)

2025-06-05T17:04:21.815Z,1749143061.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.9,  -5.0 (Local)

2025-06-05T17:04:21.819Z,1749143061.819 [DAT](INFO): DAT read: Range 10 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-06-05T17:04:21.819Z,1749143061.819 [DAT](INFO): DAT read: user:2578>

2025-06-05T17:04:21.820Z,1749143061.820 [DAT](INFO): DAT read: Tx time:17:04:20.9632

2025-06-05T17:04:21.820Z,1749143061.820 [DAT](INFO): Ping request sent.
2025-06-05T17:04:21.820Z,1749143061.820 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:21.821Z,1749143061.821 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-05T17:04:21.822Z,1749143061.822 [DAT](INFO): direction in FSK: [-0.033029,0.995647,0.087156]
2025-06-05T17:04:21.822Z,1749143061.822 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:21.822Z,1749143061.822 [DAT](INFO): publishing direction and range info
2025-06-05T17:04:21.825Z,1749143061.825 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:21.825Z,1749143061.825 [DAT](INFO): publishing direction and range info
2025-06-05T17:04:21.846Z,1749143061.846 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:04:22.059Z,1749143062.059 [DAT](INFO): DAT read: TxSync time:17:04:20.9625

2025-06-05T17:04:22.851Z,1749143062.851 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:04:24.831Z,1749143064.831 [DAT](INFO): DAT read: Rx Time:17:04:23.3687

2025-06-05T17:04:24.832Z,1749143064.832 [DAT](INFO): Rx dataTimestamp_ set to:1749143064.831400
2025-06-05T17:04:25.344Z,1749143065.344 [DAT](INFO): DAT read: 17:04:23.3687 LVL= 19776, 32753, 30450, 32755, AGC= 47, IDX= 443, 0.27,-1.450,-2.638, 2.791,-2.712, PHS= 1.350, 0.121,-0.783, RAW=  65.0,  -7.5, CAL=  73.8, -14.4, ROT=  76.2,  14.4

2025-06-05T17:04:25.345Z,1749143065.345 [DAT](INFO): got valid direction response:
 17:04:23.3687 LVL= 19776, 32753, 30450, 32755, AGC= 47, IDX= 443, 0.27,-1.450,-2.638, 2.791,-2.712, PHS= 1.350, 0.121,-0.783, RAW=  65.0,  -7.5, CAL=  73.8, -14.4, ROT=  76.2,  14.4

2025-06-05T17:04:25.352Z,1749143065.352 [DAT](INFO): DAT read: Bearing  76.2,  14.4 (Local)

2025-06-05T17:04:25.352Z,1749143065.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.2,  14.4 (Local)

2025-06-05T17:04:25.355Z,1749143065.355 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-06-05T17:04:25.357Z,1749143065.357 [DAT](INFO): DAT read: user:2579>

2025-06-05T17:04:25.358Z,1749143065.358 [DAT](INFO): DAT read: Tx time:17:04:24.4632

2025-06-05T17:04:25.362Z,1749143065.362 [DAT](INFO): Ping request sent.
2025-06-05T17:04:25.362Z,1749143065.362 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:25.363Z,1749143065.363 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-05T17:04:25.364Z,1749143065.364 [DAT](INFO): direction in FSK: [0.231040,0.940624,-0.248690]
2025-06-05T17:04:25.364Z,1749143065.364 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:25.364Z,1749143065.364 [DAT](INFO): publishing direction and range info
2025-06-05T17:04:25.391Z,1749143065.391 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:25.392Z,1749143065.392 [DAT](INFO): publishing direction and range info
2025-06-05T17:04:25.587Z,1749143065.587 [DAT](INFO): DAT read: TxSync time:17:04:24.4625

2025-06-05T17:04:28.359Z,1749143068.359 [DAT](INFO): DAT read: Rx Time:17:04:26.8690

2025-06-05T17:04:28.360Z,1749143068.360 [DAT](INFO): Rx dataTimestamp_ set to:1749143068.359290
2025-06-05T17:04:28.864Z,1749143068.864 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.6 ms) speed  0.0 m/s

2025-06-05T17:04:28.865Z,1749143068.865 [DAT](INFO): DAT read: user:2580>

2025-06-05T17:04:28.866Z,1749143068.866 [DAT](INFO): DAT read: Tx time:17:04:27.9632

2025-06-05T17:04:28.867Z,1749143068.867 [DAT](INFO): Ping request sent.
2025-06-05T17:04:28.867Z,1749143068.867 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:28.868Z,1749143068.868 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-06-05T17:04:28.868Z,1749143068.868 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:28.869Z,1749143068.869 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:29.116Z,1749143069.116 [DAT](INFO): DAT read: TxSync time:17:04:27.9625

2025-06-05T17:04:31.639Z,1749143071.639 [DAT](INFO): DAT read: Rx Time:17:04:30.3691

2025-06-05T17:04:31.640Z,1749143071.640 [DAT](INFO): Rx dataTimestamp_ set to:1749143071.639358
2025-06-05T17:04:32.412Z,1749143072.412 [DAT](INFO): DAT read: 17:04:30.3691 LVL= 11040, 13809, 11090, 15683, AGC= 41, IDX= 446, 0.20,-1.840,-1.869, 2.755,-2.954, PHS= 1.202, 1.132,-0.577, RAW=  32.0, -19.6, CAL=  38.6, -28.8, ROT= 111.4,  28.8

2025-06-05T17:04:32.415Z,1749143072.415 [DAT](INFO): got valid direction response:
 17:04:30.3691 LVL= 11040, 13809, 11090, 15683, AGC= 41, IDX= 446, 0.20,-1.840,-1.869, 2.755,-2.954, PHS= 1.202, 1.132,-0.577, RAW=  32.0, -19.6, CAL=  38.6, -28.8, ROT= 111.4,  28.8

2025-06-05T17:04:32.417Z,1749143072.417 [DAT](INFO): DAT read: Bearing 111.4,  28.8 (Local)

2025-06-05T17:04:32.418Z,1749143072.418 [DAT](INFO): Local bearing/azimuth received:
 Bearing 111.4,  28.8 (Local)

2025-06-05T17:04:32.420Z,1749143072.420 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T17:04:32.421Z,1749143072.421 [DAT](INFO): DAT read: user:2581>

2025-06-05T17:04:32.427Z,1749143072.427 [DAT](INFO): DAT read: Tx time:17:04:31.4632

2025-06-05T17:04:32.428Z,1749143072.428 [DAT](INFO): Ping request sent.
2025-06-05T17:04:32.428Z,1749143072.428 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:32.429Z,1749143072.429 [DAT](INFO): DAT read: TxSync time:17:04:31.4625

2025-06-05T17:04:32.430Z,1749143072.430 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-05T17:04:32.432Z,1749143072.432 [DAT](INFO): direction in FSK: [-0.319744,0.815890,-0.481754]
2025-06-05T17:04:32.432Z,1749143072.432 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:32.433Z,1749143072.433 [DAT](INFO): publishing direction and range info
2025-06-05T17:04:32.457Z,1749143072.457 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:32.457Z,1749143072.457 [DAT](INFO): publishing direction and range info
2025-06-05T17:04:35.181Z,1749143075.181 [DAT](INFO): DAT read: Rx Time:17:04:33.8692

2025-06-05T17:04:35.181Z,1749143075.181 [DAT](INFO): Rx dataTimestamp_ set to:1749143075.180846
2025-06-05T17:04:35.685Z,1749143075.685 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T17:04:35.686Z,1749143075.686 [DAT](INFO): DAT read: user:2582>

2025-06-05T17:04:35.686Z,1749143075.686 [DAT](INFO): DAT read: Tx time:17:04:34.9633

2025-06-05T17:04:35.687Z,1749143075.687 [DAT](INFO): Ping request sent.
2025-06-05T17:04:35.687Z,1749143075.687 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:35.687Z,1749143075.687 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-06-05T17:04:35.687Z,1749143075.687 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:35.688Z,1749143075.688 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:35.935Z,1749143075.935 [DAT](INFO): DAT read: TxSync time:17:04:34.9625

2025-06-05T17:04:38.712Z,1749143078.712 [DAT](INFO): DAT read: Rx Time:17:04:37.3689

2025-06-05T17:04:38.713Z,1749143078.713 [DAT](INFO): Rx dataTimestamp_ set to:1749143078.712071
2025-06-05T17:04:39.221Z,1749143079.221 [DAT](INFO): DAT read: Range 10 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-06-05T17:04:39.222Z,1749143079.222 [DAT](INFO): DAT read: user:2583>

2025-06-05T17:04:39.223Z,1749143079.223 [DAT](INFO): DAT read: Tx time:17:04:38.4633

2025-06-05T17:04:39.223Z,1749143079.223 [DAT](INFO): Ping request sent.
2025-06-05T17:04:39.223Z,1749143079.223 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:39.223Z,1749143079.223 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-06-05T17:04:39.223Z,1749143079.223 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:39.224Z,1749143079.224 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:39.468Z,1749143079.468 [DAT](INFO): DAT read: TxSync time:17:04:38.4625

2025-06-05T17:04:42.252Z,1749143082.252 [DAT](INFO): DAT read: Rx Time:17:04:40.8695

2025-06-05T17:04:42.252Z,1749143082.252 [DAT](INFO): Rx dataTimestamp_ set to:1749143082.252105
2025-06-05T17:04:42.762Z,1749143082.762 [DAT](INFO): DAT read: 17:04:40.8695 LVL= 13712, 31985, 11890, 15795, AGC= 42, IDX= 437,-0.49,-0.557,-1.696,-0.640, 0.697, PHS=-1.166,-2.346,-1.340, RAW= 142.2,  57.3, CAL= 150.2,  62.5, ROT= 359.8, -62.5

2025-06-05T17:04:42.763Z,1749143082.763 [DAT](INFO): got valid direction response:
 17:04:40.8695 LVL= 13712, 31985, 11890, 15795, AGC= 42, IDX= 437,-0.49,-0.557,-1.696,-0.640, 0.697, PHS=-1.166,-2.346,-1.340, RAW= 142.2,  57.3, CAL= 150.2,  62.5, ROT= 359.8, -62.5

2025-06-05T17:04:42.764Z,1749143082.764 [DAT](INFO): DAT read: Bearing 359.8, -62.5 (Local)

2025-06-05T17:04:42.764Z,1749143082.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8, -62.5 (Local)

2025-06-05T17:04:42.766Z,1749143082.766 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.0 ms) speed  0.0 m/s

2025-06-05T17:04:42.771Z,1749143082.771 [DAT](INFO): DAT read: user:2584>

2025-06-05T17:04:42.772Z,1749143082.772 [DAT](INFO): DAT read: Tx time:17:04:41.9624

2025-06-05T17:04:42.772Z,1749143082.772 [DAT](INFO): Ping request sent.
2025-06-05T17:04:42.772Z,1749143082.772 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:42.772Z,1749143082.772 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-05T17:04:42.773Z,1749143082.773 [DAT](INFO): direction in FSK: [0.461746,-0.001612,0.887011]
2025-06-05T17:04:42.774Z,1749143082.774 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:42.774Z,1749143082.774 [DAT](INFO): publishing direction and range info
2025-06-05T17:04:42.781Z,1749143082.781 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:42.781Z,1749143082.781 [DAT](INFO): publishing direction and range info
2025-06-05T17:04:45.279Z,1749143085.279 [DAT](INFO): DAT read: Rx Time:17:04:43.8281

2025-06-05T17:04:45.281Z,1749143085.281 [DAT](INFO): Rx dataTimestamp_ set to:1749143085.280103
2025-06-05T17:04:45.784Z,1749143085.784 [DAT](INFO): DAT read: 17:04:43.8281 LVL= 14320, 15921, 11970,  7203, AGC= 38, IDX=  40, 0.20, 0.479, 0.039,-1.038, 0.788, PHS=-0.221,-0.702,-1.829, RAW=  46.9,  34.3, CAL=  43.1,  40.9, ROT= 106.9, -40.9

2025-06-05T17:04:45.785Z,1749143085.785 [DAT](INFO): got valid direction response:
 17:04:43.8281 LVL= 14320, 15921, 11970,  7203, AGC= 38, IDX=  40, 0.20, 0.479, 0.039,-1.038, 0.788, PHS=-0.221,-0.702,-1.829, RAW=  46.9,  34.3, CAL=  43.1,  40.9, ROT= 106.9, -40.9

2025-06-05T17:04:45.786Z,1749143085.786 [DAT](INFO): DAT read: OK

2025-06-05T17:04:45.786Z,1749143085.786 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:04:45.787Z,1749143085.787 [DAT](INFO): DAT read: user:2585>

2025-06-05T17:04:45.787Z,1749143085.787 [DAT](INFO): DAT read: Tx time:17:04:44.9125

2025-06-05T17:04:45.788Z,1749143085.788 [DAT](INFO): Ping request sent.
2025-06-05T17:04:45.788Z,1749143085.788 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:45.788Z,1749143085.788 [DAT](INFO): #Rx 9: Read direction message, but no range.
2025-06-05T17:04:45.789Z,1749143085.789 [DAT](INFO): direction in FSK: [-0.219728,0.723211,0.654741]
2025-06-05T17:04:45.789Z,1749143085.789 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:45.792Z,1749143085.792 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:48.047Z,1749143088.047 [DAT](INFO): DAT read: Rx Time:17:04:46.7783

2025-06-05T17:04:48.048Z,1749143088.048 [DAT](INFO): Rx dataTimestamp_ set to:1749143088.047367
2025-06-05T17:04:48.808Z,1749143088.808 [DAT](INFO): DAT read: 17:04:46.7783 LVL= 20016, 18801, 10898, 12787, AGC= 34, IDX= 441, 0.50,-0.305, 2.104, 1.287, 1.208, PHS=-1.425, 0.943, 0.076, RAW= 291.2,   4.0, CAL= 294.3,   5.6, ROT= 215.7,  -5.6

2025-06-05T17:04:48.809Z,1749143088.809 [DAT](INFO): got valid direction response:
 17:04:46.7783 LVL= 20016, 18801, 10898, 12787, AGC= 34, IDX= 441, 0.50,-0.305, 2.104, 1.287, 1.208, PHS=-1.425, 0.943, 0.076, RAW= 291.2,   4.0, CAL= 294.3,   5.6, ROT= 215.7,  -5.6

2025-06-05T17:04:48.809Z,1749143088.809 [DAT](INFO): DAT read: OK

2025-06-05T17:04:48.810Z,1749143088.810 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:04:48.810Z,1749143088.810 [DAT](INFO): DAT read: user:2586>

2025-06-05T17:04:48.811Z,1749143088.811 [DAT](INFO): DAT read: Tx time:17:04:47.8625

2025-06-05T17:04:48.811Z,1749143088.811 [DAT](INFO): Ping request sent.
2025-06-05T17:04:48.811Z,1749143088.811 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:48.812Z,1749143088.812 [DAT](INFO): #Rx 10: Read direction message, but no range.
2025-06-05T17:04:48.813Z,1749143088.813 [DAT](INFO): direction in FSK: [-0.808208,-0.580756,0.097583]
2025-06-05T17:04:48.813Z,1749143088.813 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:48.816Z,1749143088.816 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:51.071Z,1749143091.071 [DAT](INFO): DAT read: Rx Time:17:04:49.7281

2025-06-05T17:04:51.072Z,1749143091.072 [DAT](INFO): Rx dataTimestamp_ set to:1749143091.071237
2025-06-05T17:04:51.585Z,1749143091.585 [DAT](INFO): DAT read: 17:04:49.7281 LVL= 27680, 20913, 15426,  9731, AGC= 38, IDX= 441,-0.16, 0.855, 2.299, 2.368, 2.168, PHS=-1.225, 0.178, 0.197, RAW= 269.3,  12.0, CAL= 276.7,  17.0, ROT= 233.3, -17.0

2025-06-05T17:04:51.587Z,1749143091.587 [DAT](INFO): got valid direction response:
 17:04:49.7281 LVL= 27680, 20913, 15426,  9731, AGC= 38, IDX= 441,-0.16, 0.855, 2.299, 2.368, 2.168, PHS=-1.225, 0.178, 0.197, RAW= 269.3,  12.0, CAL= 276.7,  17.0, ROT= 233.3, -17.0

2025-06-05T17:04:51.588Z,1749143091.588 [DAT](INFO): DAT read: OK

2025-06-05T17:04:51.589Z,1749143091.589 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:04:51.594Z,1749143091.594 [DAT](INFO): DAT read: user:2587>

2025-06-05T17:04:51.596Z,1749143091.596 [DAT](INFO): DAT read: Tx time:17:04:50.8134

2025-06-05T17:04:51.597Z,1749143091.597 [DAT](INFO): Ping request sent.
2025-06-05T17:04:51.597Z,1749143091.597 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:04:51.597Z,1749143091.597 [DAT](INFO): #Rx 11: Read direction message, but no range.
2025-06-05T17:04:51.631Z,1749143091.631 [DAT](INFO): direction in FSK: [-0.571512,-0.766742,0.292372]
2025-06-05T17:04:51.631Z,1749143091.631 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:51.643Z,1749143091.643 [DAT](INFO): publishing transmit ping time
2025-06-05T17:04:51.827Z,1749143091.827 [DAT](INFO): DAT read: TxSync time:17:04:50.8126

2025-06-05T17:04:52.974Z,1749143092.974 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:04:53.979Z,1749143093.979 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:04:54.603Z,1749143094.603 [DAT](INFO): DAT read: Rx Time:17:04:53.2184

2025-06-05T17:04:54.604Z,1749143094.604 [DAT](INFO): Rx dataTimestamp_ set to:1749143094.603347
2025-06-05T17:04:55.112Z,1749143095.112 [DAT](INFO): DAT read: 17:04:53.2184 LVL= 21616, 19297,  9842,  8435, AGC= 36, IDX= 326,-0.13,-2.494,-0.586,-0.721,-0.742, PHS=-1.664, 0.203, 0.018, RAW= 275.2,  16.0, CAL= 283.1,  22.1, ROT= 226.9, -22.1

2025-06-05T17:04:55.113Z,1749143095.113 [DAT](INFO): got valid direction response:
 17:04:53.2184 LVL= 21616, 19297,  9842,  8435, AGC= 36, IDX= 326,-0.13,-2.494,-0.586,-0.721,-0.742, PHS=-1.664, 0.203, 0.018, RAW= 275.2,  16.0, CAL= 283.1,  22.1, ROT= 226.9, -22.1

2025-06-05T17:04:55.119Z,1749143095.119 [DAT](INFO): DAT read: Bearing 226.9, -22.1 (Local)

2025-06-05T17:04:55.119Z,1749143095.119 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.9, -22.1 (Local)

2025-06-05T17:04:55.120Z,1749143095.120 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-06-05T17:04:55.121Z,1749143095.121 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-05T17:04:55.123Z,1749143095.123 [DAT](INFO): direction in FSK: [-0.633073,-0.676516,0.376224]
2025-06-05T17:04:55.123Z,1749143095.123 [DAT](INFO): publishing direction and range info
2025-06-05T17:05:03.668Z,1749143103.668 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -8,   +23,A
2025-06-05T17:05:08.893Z,1749143108.893 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V
2025-06-05T17:05:18.181Z,1749143118.181 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-06-05T17:05:18.182Z,1749143118.182 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-06-05T17:05:18.194Z,1749143118.194 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T17:05:18.194Z,1749143118.194 [DockingStepper](INFO): Standby mode.
2025-06-05T17:05:18.262Z,1749143118.262 [DockingStepper](INFO): Commanding positive:34595
2025-06-05T17:05:18.803Z,1749143118.803 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T17:05:19.055Z,1749143119.055 [DAT](INFO): DAT read: user:2588>

2025-06-05T17:05:19.056Z,1749143119.056 [DAT](INFO): DAT read: Tx time:17:05:18.1627

2025-06-05T17:05:19.056Z,1749143119.056 [DAT](INFO): Ping request sent.
2025-06-05T17:05:19.056Z,1749143119.056 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:05:19.056Z,1749143119.056 [DAT](INFO): publishing transmit ping time
2025-06-05T17:05:19.057Z,1749143119.057 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T17:05:19.307Z,1749143119.307 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T17:05:21.323Z,1749143121.323 [DAT](INFO): DAT read: Rx Time:17:05:20.0290

2025-06-05T17:05:21.324Z,1749143121.324 [DAT](INFO): Rx dataTimestamp_ set to:1749143121.323507
2025-06-05T17:05:22.089Z,1749143122.089 [DAT](INFO): DAT read: 17:05:20.0290 LVL= 20544, 15601,  9378, 21443, AGC= 38, IDX=  47,-0.29,-1.337, 0.379,-0.906,-0.110, PHS=-1.139, 0.536,-0.799, RAW= 318.9,  17.9, CAL= 322.5,  23.2, ROT= 187.5, -23.2

2025-06-05T17:05:22.090Z,1749143122.090 [DAT](INFO): got valid direction response:
 17:05:20.0290 LVL= 20544, 15601,  9378, 21443, AGC= 38, IDX=  47,-0.29,-1.337, 0.379,-0.906,-0.110, PHS=-1.139, 0.536,-0.799, RAW= 318.9,  17.9, CAL= 322.5,  23.2, ROT= 187.5, -23.2

2025-06-05T17:05:22.090Z,1749143122.090 [DAT](INFO): DAT read: OK

2025-06-05T17:05:22.090Z,1749143122.090 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:05:22.091Z,1749143122.091 [DAT](INFO): DAT read: user:2589>

2025-06-05T17:05:22.091Z,1749143122.091 [DAT](INFO): DAT read: Tx time:17:05:21.1127

2025-06-05T17:05:22.092Z,1749143122.092 [DAT](INFO): Ping request sent.
2025-06-05T17:05:22.092Z,1749143122.092 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:05:22.092Z,1749143122.092 [DAT](INFO): #Rx 13: Read direction message, but no range.
2025-06-05T17:05:22.093Z,1749143122.093 [DAT](INFO): direction in FSK: [-0.911272,-0.119971,0.393942]
2025-06-05T17:05:22.093Z,1749143122.093 [DAT](INFO): publishing transmit ping time
2025-06-05T17:05:22.096Z,1749143122.096 [DAT](INFO): publishing transmit ping time
2025-06-05T17:05:24.127Z,1749143124.127 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:05:24.352Z,1749143124.352 [DAT](INFO): DAT read: Rx Time:17:05:22.9791

2025-06-05T17:05:24.352Z,1749143124.352 [DAT](INFO): Rx dataTimestamp_ set to:1749143124.351954
2025-06-05T17:05:24.874Z,1749143124.874 [DAT](INFO): DAT read: 17:05:22.9791 LVL= 17488, 18321,  9906, 11811, AGC= 34, IDX= 448,-0.23, 0.864,-3.134, 1.858, 2.157, PHS=-1.205, 1.039,-0.302, RAW= 306.4,   4.8, CAL= 309.7,   7.6, ROT= 200.3,  -7.6

2025-06-05T17:05:24.898Z,1749143124.898 [DAT](INFO): got valid direction response:
 17:05:22.9791 LVL= 17488, 18321,  9906, 11811, AGC= 34, IDX= 448,-0.23, 0.864,-3.134, 1.858, 2.157, PHS=-1.205, 1.039,-0.302, RAW= 306.4,   4.8, CAL= 309.7,   7.6, ROT= 200.3,  -7.6

2025-06-05T17:05:24.899Z,1749143124.899 [DAT](INFO): DAT read: OK

2025-06-05T17:05:24.899Z,1749143124.899 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:05:24.900Z,1749143124.900 [DAT](INFO): DAT read: user:2590>

2025-06-05T17:05:24.901Z,1749143124.901 [DAT](INFO): DAT read: Tx time:17:05:24.0627

2025-06-05T17:05:24.902Z,1749143124.902 [DAT](INFO): Ping request sent.
2025-06-05T17:05:24.902Z,1749143124.902 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:05:24.906Z,1749143124.906 [DAT](INFO): #Rx 14: Read direction message, but no range.
2025-06-05T17:05:24.908Z,1749143124.908 [DAT](INFO): direction in FSK: [-0.929650,-0.343888,0.132256]
2025-06-05T17:05:24.908Z,1749143124.908 [DAT](INFO): publishing transmit ping time
2025-06-05T17:05:24.942Z,1749143124.942 [DAT](INFO): publishing transmit ping time
2025-06-05T17:05:25.131Z,1749143125.131 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:05:27.379Z,1749143127.379 [DAT](INFO): DAT read: Rx Time:17:05:25.9292

2025-06-05T17:05:27.379Z,1749143127.379 [DAT](INFO): Rx dataTimestamp_ set to:1749143127.378961
2025-06-05T17:05:27.911Z,1749143127.911 [DAT](INFO): DAT read: 17:05:25.9292 LVL= 27248, 22721, 11874, 15251, AGC= 36, IDX= 448, 0.13,-2.868,-0.415,-1.442,-1.338, PHS=-1.441, 0.970,-0.107, RAW= 296.5,   5.6, CAL= 299.9,   8.4, ROT= 210.1,  -8.4

2025-06-05T17:05:27.915Z,1749143127.915 [DAT](INFO): got valid direction response:
 17:05:25.9292 LVL= 27248, 22721, 11874, 15251, AGC= 36, IDX= 448, 0.13,-2.868,-0.415,-1.442,-1.338, PHS=-1.441, 0.970,-0.107, RAW= 296.5,   5.6, CAL= 299.9,   8.4, ROT= 210.1,  -8.4

2025-06-05T17:05:27.916Z,1749143127.916 [DAT](INFO): DAT read: OK

2025-06-05T17:05:27.918Z,1749143127.918 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:05:27.963Z,1749143127.963 [DAT](INFO): #Rx 15: Read direction message, but no range.
2025-06-05T17:05:27.964Z,1749143127.964 [DAT](INFO): direction in FSK: [-0.855870,-0.496131,0.146083]
2025-06-05T17:05:55.256Z,1749143155.256 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:05:56.258Z,1749143156.258 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:06:03.681Z,1749143163.681 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,2506050.0,1491.3,  0
2025-06-05T17:06:07.660Z,1749143167.660 [CTD_Seabird](ERROR): Failed to parse device response: .37
2025-06-05T17:06:08.587Z,1749143168.587 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +0 0.00
2025-06-05T17:06:17.111Z,1749143177.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:06:17.315Z,1749143177.315 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:06:17.316Z,1749143177.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:06:17.568Z,1749143177.568 [DAT](INFO): DAT read: user:2591>

2025-06-05T17:06:17.569Z,1749143177.569 [DAT](INFO): DAT read: Tx time:17:06:16.6644

2025-06-05T17:06:17.569Z,1749143177.569 [DAT](INFO): Ping request sent.
2025-06-05T17:06:17.569Z,1749143177.569 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:06:17.570Z,1749143177.570 [DAT](INFO): publishing transmit ping time
2025-06-05T17:06:17.570Z,1749143177.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000865
2025-06-05T17:06:17.820Z,1749143177.820 [DAT](INFO): DAT read: TxSync time:17:06:16.6636

2025-06-05T17:06:17.821Z,1749143177.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251124
2025-06-05T17:06:18.071Z,1749143178.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501691
2025-06-05T17:06:18.323Z,1749143178.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753760
2025-06-05T17:06:18.575Z,1749143178.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005725
2025-06-05T17:06:18.744Z,1749143178.744 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.00,  73.70,  70.62
2025-06-05T17:06:18.827Z,1749143178.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257819
2025-06-05T17:06:19.079Z,1749143179.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509734
2025-06-05T17:06:19.331Z,1749143179.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761660
2025-06-05T17:06:19.586Z,1749143179.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015854
2025-06-05T17:06:19.836Z,1749143179.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266385
2025-06-05T17:06:20.088Z,1749143180.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518002
2025-06-05T17:06:20.339Z,1749143180.339 [DAT](INFO): DAT read: Rx Time:17:06:19.0695

2025-06-05T17:06:20.340Z,1749143180.340 [DAT](INFO): Rx dataTimestamp_ set to:1749143180.339467
2025-06-05T17:06:20.340Z,1749143180.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770821
2025-06-05T17:06:20.591Z,1749143180.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021604
2025-06-05T17:06:20.846Z,1749143180.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275623
2025-06-05T17:06:21.117Z,1749143181.117 [DAT](INFO): DAT read: 17:06:19.0695 LVL= 12720, 24369, 10066, 14627, AGC= 35, IDX= 326,-0.09,-2.317,-1.115,-2.495,-1.160, PHS=-1.069, 0.092,-1.338, RAW= 340.2,  31.9, CAL= 339.7,  33.8, ROT= 170.3, -33.8

2025-06-05T17:06:21.122Z,1749143181.122 [DAT](INFO): got valid direction response:
 17:06:19.0695 LVL= 12720, 24369, 10066, 14627, AGC= 35, IDX= 326,-0.09,-2.317,-1.115,-2.495,-1.160, PHS=-1.069, 0.092,-1.338, RAW= 340.2,  31.9, CAL= 339.7,  33.8, ROT= 170.3, -33.8

2025-06-05T17:06:21.131Z,1749143181.131 [DAT](INFO): DAT read: Bearing 170.3, -33.8 (Local)

2025-06-05T17:06:21.131Z,1749143181.131 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.3, -33.8 (Local)

2025-06-05T17:06:21.142Z,1749143181.142 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T17:06:21.143Z,1749143181.143 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T17:06:21.144Z,1749143181.144 [DAT](INFO): direction in FSK: [-0.819104,0.140012,0.556296]
2025-06-05T17:06:21.144Z,1749143181.144 [DAT](INFO): publishing direction and range info
2025-06-05T17:06:26.403Z,1749143186.403 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:06:27.407Z,1749143187.407 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:06:37.138Z,1749143197.138 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T17:06:44.279Z,1749143204.279 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T17:06:48.262Z,1749143208.262 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging.
2025-06-05T17:06:48.319Z,1749143208.319 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T17:06:48.571Z,1749143208.571 [DAT](INFO): DAT read: user:2592>

2025-06-05T17:06:48.572Z,1749143208.572 [DAT](INFO): DAT read: Tx time:17:06:47.6637

2025-06-05T17:06:48.572Z,1749143208.572 [DAT](INFO): Ping request sent.
2025-06-05T17:06:48.572Z,1749143208.572 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:06:48.572Z,1749143208.572 [DAT](INFO): publishing transmit ping time
2025-06-05T17:06:48.573Z,1749143208.573 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T17:06:48.823Z,1749143208.823 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T17:06:50.844Z,1749143210.844 [DAT](INFO): DAT read: Rx Time:17:06:49.5315

2025-06-05T17:06:50.844Z,1749143210.844 [DAT](INFO): Rx dataTimestamp_ set to:1749143210.843933
2025-06-05T17:06:51.352Z,1749143211.352 [DAT](INFO): DAT read: 17:06:49.5315 LVL= 13488, 11857, 10274, 16195, AGC= 37, IDX=  62, 0.12, 2.531,-2.617, 2.225,-2.695, PHS=-0.969, 0.124,-1.366, RAW= 344.9,  30.3, CAL= 343.6,  32.8, ROT= 166.4, -32.8

2025-06-05T17:06:51.353Z,1749143211.353 [DAT](INFO): got valid direction response:
 17:06:49.5315 LVL= 13488, 11857, 10274, 16195, AGC= 37, IDX=  62, 0.12, 2.531,-2.617, 2.225,-2.695, PHS=-0.969, 0.124,-1.366, RAW= 344.9,  30.3, CAL= 343.6,  32.8, ROT= 166.4, -32.8

2025-06-05T17:06:51.354Z,1749143211.354 [DAT](INFO): DAT read: OK

2025-06-05T17:06:51.355Z,1749143211.355 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:06:51.355Z,1749143211.355 [DAT](INFO): DAT read: user:2593>

2025-06-05T17:06:51.356Z,1749143211.356 [DAT](INFO): DAT read: Tx time:17:06:50.6138

2025-06-05T17:06:51.356Z,1749143211.356 [DAT](INFO): Ping request sent.
2025-06-05T17:06:51.356Z,1749143211.356 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:06:51.356Z,1749143211.356 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-06-05T17:06:51.357Z,1749143211.357 [DAT](INFO): direction in FSK: [-0.816998,0.197653,0.541708]
2025-06-05T17:06:51.358Z,1749143211.358 [DAT](INFO): publishing transmit ping time
2025-06-05T17:06:51.361Z,1749143211.361 [DAT](INFO): publishing transmit ping time
2025-06-05T17:06:53.868Z,1749143213.868 [DAT](INFO): DAT read: Rx Time:17:06:52.4817

2025-06-05T17:06:53.869Z,1749143213.869 [DAT](INFO): Rx dataTimestamp_ set to:1749143213.868685
2025-06-05T17:06:54.375Z,1749143214.375 [DAT](INFO): DAT read: 17:06:52.4817 LVL= 17392, 23921, 10610, 21891, AGC= 36, IDX= 447,-0.14,-0.184, 1.111,-0.307, 0.858, PHS=-0.954, 0.300,-1.167, RAW= 337.7,  25.1, CAL= 338.3,  28.6, ROT= 171.7, -28.6

2025-06-05T17:06:54.376Z,1749143214.376 [DAT](INFO): got valid direction response:
 17:06:52.4817 LVL= 17392, 23921, 10610, 21891, AGC= 36, IDX= 447,-0.14,-0.184, 1.111,-0.307, 0.858, PHS=-0.954, 0.300,-1.167, RAW= 337.7,  25.1, CAL= 338.3,  28.6, ROT= 171.7, -28.6

2025-06-05T17:06:54.377Z,1749143214.377 [DAT](INFO): DAT read: OK

2025-06-05T17:06:54.377Z,1749143214.377 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:06:54.377Z,1749143214.377 [DAT](INFO): DAT read: user:2594>

2025-06-05T17:06:54.379Z,1749143214.379 [DAT](INFO): DAT read: Tx time:17:06:53.5638

2025-06-05T17:06:54.379Z,1749143214.379 [DAT](INFO): Ping request sent.
2025-06-05T17:06:54.379Z,1749143214.379 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:06:54.380Z,1749143214.380 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-06-05T17:06:54.381Z,1749143214.381 [DAT](INFO): direction in FSK: [-0.868787,0.126742,0.478692]
2025-06-05T17:06:54.381Z,1749143214.381 [DAT](INFO): publishing transmit ping time
2025-06-05T17:06:54.385Z,1749143214.385 [DAT](INFO): publishing transmit ping time
2025-06-05T17:06:56.891Z,1749143216.891 [DAT](INFO): DAT read: Rx Time:17:06:55.4317

2025-06-05T17:06:56.892Z,1749143216.892 [DAT](INFO): Rx dataTimestamp_ set to:1749143216.891410
2025-06-05T17:06:57.400Z,1749143217.400 [DAT](INFO): DAT read: 17:06:55.4317 LVL= 31264, 20369, 12322, 24723, AGC= 37, IDX= 447, 0.50, 0.542, 2.410, 1.460, 1.723, PHS=-1.093, 0.733,-0.267, RAW= 303.1,   8.0, CAL= 306.7,  12.6, ROT= 203.3, -12.6

2025-06-05T17:06:57.402Z,1749143217.402 [DAT](INFO): got valid direction response:
 17:06:55.4317 LVL= 31264, 20369, 12322, 24723, AGC= 37, IDX= 447, 0.50, 0.542, 2.410, 1.460, 1.723, PHS=-1.093, 0.733,-0.267, RAW= 303.1,   8.0, CAL= 306.7,  12.6, ROT= 203.3, -12.6

2025-06-05T17:06:57.402Z,1749143217.402 [DAT](INFO): DAT read: OK

2025-06-05T17:06:57.403Z,1749143217.403 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:06:57.403Z,1749143217.403 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-06-05T17:06:57.404Z,1749143217.404 [DAT](INFO): direction in FSK: [-0.896327,-0.386020,0.218143]
2025-06-05T17:06:57.531Z,1749143217.531 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:06:58.535Z,1749143218.535 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:07:12.620Z,1749143232.620 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-06-05T17:07:12.620Z,1749143232.620 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-06-05T17:07:12.631Z,1749143232.631 [DockingStepper](INFO): Changing to mode: 4
2025-06-05T17:07:12.631Z,1749143232.631 [DockingStepper](INFO): Slide mode.
2025-06-05T17:07:12.690Z,1749143232.690 [DockingStepper](INFO): Commanding negative:34496
2025-06-05T17:07:28.664Z,1749143248.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:07:29.667Z,1749143249.667 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:07:59.787Z,1749143279.787 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:08:00.790Z,1749143280.790 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:08:17.298Z,1749143297.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:08:17.331Z,1749143297.331 [DAT](DEBUG): Acoustic response timeout
2025-06-05T17:08:17.332Z,1749143297.332 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:08:17.583Z,1749143297.583 [DAT](INFO): DAT read: user:2595>

2025-06-05T17:08:17.585Z,1749143297.585 [DAT](INFO): DAT read: Tx time:17:08:16.6657

2025-06-05T17:08:17.586Z,1749143297.586 [DAT](INFO): Ping request sent.
2025-06-05T17:08:17.586Z,1749143297.586 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:08:17.586Z,1749143297.586 [DAT](INFO): DAT read: TxSync time:17:08:16.6649

2025-06-05T17:08:17.587Z,1749143297.587 [DAT](INFO): publishing transmit ping time
2025-06-05T17:08:17.587Z,1749143297.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001695
2025-06-05T17:08:17.836Z,1749143297.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250488
2025-06-05T17:08:18.087Z,1749143298.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501459
2025-06-05T17:08:18.339Z,1749143298.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753345
2025-06-05T17:08:18.592Z,1749143298.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006137
2025-06-05T17:08:18.843Z,1749143298.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257375
2025-06-05T17:08:19.095Z,1749143299.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509361
2025-06-05T17:08:19.348Z,1749143299.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762144
2025-06-05T17:08:19.599Z,1749143299.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013379
2025-06-05T17:08:19.853Z,1749143299.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266878
2025-06-05T17:08:20.103Z,1749143300.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517712
2025-06-05T17:08:20.355Z,1749143300.355 [DAT](INFO): DAT read: Rx Time:17:08:19.0709

2025-06-05T17:08:20.356Z,1749143300.356 [DAT](INFO): Rx dataTimestamp_ set to:1749143300.355335
2025-06-05T17:08:20.356Z,1749143300.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770495
2025-06-05T17:08:20.608Z,1749143300.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021707
2025-06-05T17:08:20.860Z,1749143300.860 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T17:08:20.860Z,1749143300.860 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T17:08:27.027Z,1749143307.027 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T17:08:30.931Z,1749143310.931 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:08:31.820Z,1749143311.820 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for bottom velocity. Device response is::BS   +19,   -12,A
2025-06-05T17:08:31.937Z,1749143311.937 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:08:39.097Z,1749143319.097 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  +149,    -7, 
2025-06-05T17:08:42.724Z,1749143322.724 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-06-05T17:08:42.724Z,1749143322.724 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-06-05T17:08:42.753Z,1749143322.753 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T17:08:42.753Z,1749143322.753 [DockingStepper](INFO): Standby mode.
2025-06-05T17:08:42.811Z,1749143322.811 [DockingStepper](INFO): Commanding positive:34687
2025-06-05T17:08:43.299Z,1749143323.299 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T17:08:43.552Z,1749143323.552 [DAT](INFO): DAT read: user:2596>

2025-06-05T17:08:43.553Z,1749143323.553 [DAT](INFO): DAT read: Tx time:17:08:42.6651

2025-06-05T17:08:43.554Z,1749143323.554 [DAT](INFO): Ping request sent.
2025-06-05T17:08:43.554Z,1749143323.554 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:08:43.554Z,1749143323.554 [DAT](INFO): publishing transmit ping time
2025-06-05T17:08:43.555Z,1749143323.555 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T17:08:43.806Z,1749143323.806 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T17:08:45.827Z,1749143325.827 [DAT](INFO): DAT read: Rx Time:17:08:44.5348

2025-06-05T17:08:45.828Z,1749143325.828 [DAT](INFO): Rx dataTimestamp_ set to:1749143325.827165
2025-06-05T17:08:46.336Z,1749143326.336 [DAT](INFO): DAT read: OK

2025-06-05T17:08:46.336Z,1749143326.336 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:08:46.336Z,1749143326.336 [DAT](INFO): DAT read: user:2597>

2025-06-05T17:08:46.530Z,1749143326.530 [DockingStepper](INFO): Commanding positive:17350
2025-06-05T17:08:46.588Z,1749143326.588 [DAT](INFO): DAT read: Tx time:17:08:45.6151

2025-06-05T17:08:46.588Z,1749143326.588 [DAT](INFO): Ping request sent.
2025-06-05T17:08:46.588Z,1749143326.588 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:08:46.588Z,1749143326.588 [DAT](INFO): publishing transmit ping time
2025-06-05T17:08:48.432Z,1749143328.432 [DockingStepper](INFO): Commanding positive:17257
2025-06-05T17:08:48.857Z,1749143328.857 [DAT](INFO): DAT read: Rx Time:17:08:47.4849

2025-06-05T17:08:48.859Z,1749143328.859 [DAT](INFO): Rx dataTimestamp_ set to:1749143328.858390
2025-06-05T17:08:49.375Z,1749143329.375 [DAT](INFO): DAT read: 17:08:47.4849 LVL=  9232, 24529,  8034,  9155, AGC= 32, IDX= 435,-0.46, 2.726,-2.368, 2.907,-1.988, PHS=-1.481,-0.332,-1.391, RAW= 326.0,  45.7, CAL= 327.9,  45.2, ROT= 182.1, -45.2

2025-06-05T17:08:49.376Z,1749143329.376 [DAT](INFO): got valid direction response:
 17:08:47.4849 LVL=  9232, 24529,  8034,  9155, AGC= 32, IDX= 435,-0.46, 2.726,-2.368, 2.907,-1.988, PHS=-1.481,-0.332,-1.391, RAW= 326.0,  45.7, CAL= 327.9,  45.2, ROT= 182.1, -45.2

2025-06-05T17:08:49.376Z,1749143329.376 [DAT](INFO): DAT read: OK

2025-06-05T17:08:49.377Z,1749143329.377 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:08:49.377Z,1749143329.377 [DAT](INFO): DAT read: user:2598>

2025-06-05T17:08:49.378Z,1749143329.378 [DAT](INFO): DAT read: Tx time:17:08:48.5651

2025-06-05T17:08:49.378Z,1749143329.378 [DAT](INFO): Ping request sent.
2025-06-05T17:08:49.378Z,1749143329.378 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:08:49.378Z,1749143329.378 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-06-05T17:08:49.380Z,1749143329.380 [DAT](INFO): direction in FSK: [-0.704161,-0.025820,0.709571]
2025-06-05T17:08:49.380Z,1749143329.380 [DAT](INFO): publishing transmit ping time
2025-06-05T17:08:49.403Z,1749143329.403 [DAT](INFO): publishing transmit ping time
2025-06-05T17:08:50.326Z,1749143330.326 [DockingStepper](INFO): Commanding positive:17257
2025-06-05T17:08:51.882Z,1749143331.882 [DAT](INFO): DAT read: Rx Time:17:08:50.4349

2025-06-05T17:08:51.884Z,1749143331.884 [DAT](INFO): Rx dataTimestamp_ set to:1749143331.883053
2025-06-05T17:08:52.388Z,1749143332.388 [DAT](INFO): DAT read: 17:08:50.4349 LVL= 14608, 21137, 11762,  9907, AGC= 35, IDX= 435,-0.20,-1.092, 0.751,-0.574, 0.683, PHS=-1.687, 0.115,-1.260, RAW= 316.9,  31.5, CAL= 321.5,  33.3, ROT= 188.5, -33.3

2025-06-05T17:08:52.389Z,1749143332.389 [DAT](INFO): got valid direction response:
 17:08:50.4349 LVL= 14608, 21137, 11762,  9907, AGC= 35, IDX= 435,-0.20,-1.092, 0.751,-0.574, 0.683, PHS=-1.687, 0.115,-1.260, RAW= 316.9,  31.5, CAL= 321.5,  33.3, ROT= 188.5, -33.3

2025-06-05T17:08:52.390Z,1749143332.390 [DAT](INFO): DAT read: OK

2025-06-05T17:08:52.390Z,1749143332.390 [DockingStepper](INFO): Commanding positive:17153
2025-06-05T17:08:52.391Z,1749143332.391 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:08:52.393Z,1749143332.393 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-06-05T17:08:52.399Z,1749143332.399 [DAT](INFO): direction in FSK: [-0.826627,-0.123540,0.549023]
2025-06-05T17:08:52.427Z,1749143332.427 [DockingStepper](FAULT): Timed out moving from: 13664 to: 16450 response: ÿ
2025-06-05T17:08:52.427Z,1749143332.427 [DockingStepper] Hardware Fault, FailCount= 1
2025-06-05T17:08:52.427Z,1749143332.427 [DockingStepper](ERROR): Hardware Fault
2025-06-05T17:08:52.459Z,1749143332.459 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-06-05T17:08:52.662Z,1749143332.662 [DockingStepper](INFO): Stop
2025-06-05T17:08:52.663Z,1749143332.663 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-05T17:08:52.663Z,1749143332.663 [DockingStepper](INFO): Powering down
2025-06-05T17:08:53.114Z,1749143333.114 [DockingStepper](INFO): Stopping
2025-06-05T17:08:53.462Z,1749143333.462 [DockingStepper](INFO): Stopping
2025-06-05T17:08:53.991Z,1749143333.991 [DockingStepper](INFO): Stopping
2025-06-05T17:08:54.323Z,1749143334.323 [DockingStepper](INFO): Stopping
2025-06-05T17:08:54.819Z,1749143334.819 [DockingStepper](INFO): Stopping
2025-06-05T17:08:55.113Z,1749143335.113 [DockingStepper](INFO): Stopping
2025-06-05T17:08:55.515Z,1749143335.515 [DockingStepper](INFO): Stopping
2025-06-05T17:08:55.905Z,1749143335.905 [DockingStepper](INFO): Stopping
2025-06-05T17:08:56.436Z,1749143336.436 [DockingStepper](INFO): Stopping
2025-06-05T17:08:56.763Z,1749143336.763 [DockingStepper](INFO): Stopping
2025-06-05T17:08:57.252Z,1749143337.252 [DockingStepper](INFO): Stopping
2025-06-05T17:08:57.514Z,1749143337.514 [DockingStepper](INFO): Stopping
2025-06-05T17:08:57.915Z,1749143337.915 [DockingStepper](INFO): Stopping
2025-06-05T17:08:58.341Z,1749143338.341 [DockingStepper](INFO): Stopping
2025-06-05T17:08:58.711Z,1749143338.711 [DockingStepper](INFO): Stopping
2025-06-05T17:08:59.143Z,1749143339.143 [DockingStepper](INFO): Stopping
2025-06-05T17:08:59.547Z,1749143339.547 [DockingStepper](INFO): Stopping
2025-06-05T17:08:59.920Z,1749143339.920 [DockingStepper](INFO): Stopping
2025-06-05T17:09:00.345Z,1749143340.345 [DockingStepper](INFO): Stopping
2025-06-05T17:09:00.757Z,1749143340.757 [DockingStepper](INFO): Stopping
2025-06-05T17:09:01.279Z,1749143341.279 [DockingStepper](INFO): Stopping
2025-06-05T17:09:01.537Z,1749143341.537 [DockingStepper](INFO): Stopping
2025-06-05T17:09:01.945Z,1749143341.945 [DockingStepper](INFO): Stopping
2025-06-05T17:09:02.056Z,1749143342.056 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:09:02.364Z,1749143342.364 [DockingStepper](INFO): Stopping
2025-06-05T17:09:02.774Z,1749143342.774 [DockingStepper](INFO): Stopping
2025-06-05T17:09:03.064Z,1749143343.064 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:09:03.200Z,1749143343.200 [DockingStepper](INFO): Stopping
2025-06-05T17:09:03.573Z,1749143343.573 [DockingStepper](INFO): Stopping
2025-06-05T17:09:03.977Z,1749143343.977 [DockingStepper](INFO): Stopping
2025-06-05T17:09:04.418Z,1749143344.418 [DockingStepper](INFO): Stopping
2025-06-05T17:09:04.805Z,1749143344.805 [DockingStepper](INFO): Stopping
2025-06-05T17:09:05.232Z,1749143345.232 [DockingStepper](INFO): Stopping
2025-06-05T17:09:05.605Z,1749143345.605 [DockingStepper](INFO): Stopping
2025-06-05T17:09:05.976Z,1749143345.976 [DockingStepper](INFO): Stopping
2025-06-05T17:09:06.448Z,1749143346.448 [DockingStepper](INFO): Stopping
2025-06-05T17:09:06.819Z,1749143346.819 [DockingStepper](INFO): Stopping
2025-06-05T17:09:07.270Z,1749143347.270 [DockingStepper](INFO): Stopping
2025-06-05T17:09:07.611Z,1749143347.611 [DockingStepper](INFO): Stopping
2025-06-05T17:09:07.995Z,1749143347.995 [DockingStepper](INFO): Stopping
2025-06-05T17:09:08.452Z,1749143348.452 [DockingStepper](INFO): Stopping
2025-06-05T17:09:08.861Z,1749143348.861 [DockingStepper](INFO): Stopping
2025-06-05T17:09:09.305Z,1749143349.305 [DockingStepper](INFO): Stopping
2025-06-05T17:09:09.613Z,1749143349.613 [DockingStepper](INFO): Stopping
2025-06-05T17:09:10.042Z,1749143350.042 [DockingStepper](INFO): Stopping
2025-06-05T17:09:10.457Z,1749143350.457 [DockingStepper](INFO): Stopping
2025-06-05T17:09:10.823Z,1749143350.823 [DockingStepper](INFO): Stopping
2025-06-05T17:09:11.326Z,1749143351.326 [DockingStepper](INFO): Stopping
2025-06-05T17:09:11.664Z,1749143351.664 [DockingStepper](INFO): Stopping
2025-06-05T17:09:12.081Z,1749143352.081 [DockingStepper](INFO): Stopping
2025-06-05T17:09:12.495Z,1749143352.495 [DockingStepper](INFO): Stopping
2025-06-05T17:09:12.899Z,1749143352.899 [DockingStepper](INFO): Stopping
2025-06-05T17:09:13.340Z,1749143353.340 [DockingStepper](INFO): Stopped
2025-06-05T17:09:13.379Z,1749143353.379 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-06-05T17:09:13.379Z,1749143353.379 [DockingStepper] No Fault, FailCount= 1
2025-06-05T17:09:13.685Z,1749143353.685 [DockingStepper](INFO): Start
2025-06-05T17:09:13.685Z,1749143353.685 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-05T17:09:13.686Z,1749143353.686 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-05T17:09:14.067Z,1749143354.067 [DockingStepper](INFO): Starting
2025-06-05T17:09:14.517Z,1749143354.517 [DockingStepper](INFO): Starting
2025-06-05T17:09:14.883Z,1749143354.883 [DockingStepper](INFO): Starting
2025-06-05T17:09:14.931Z,1749143354.931 [DockingStepper](INFO): Init string: /1z13665aE13561N3m50
2025-06-05T17:09:15.353Z,1749143355.353 [DockingStepper](INFO): Starting
2025-06-05T17:09:15.695Z,1749143355.695 [DockingStepper](INFO): Starting
2025-06-05T17:09:16.128Z,1749143356.128 [DockingStepper](INFO): Starting
2025-06-05T17:09:16.557Z,1749143356.557 [DockingStepper](INFO): Starting
2025-06-05T17:09:16.587Z,1749143356.587 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-05T17:09:17.037Z,1749143357.037 [DockingStepper](INFO): Starting
2025-06-05T17:09:17.366Z,1749143357.366 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T17:09:17.370Z,1749143357.370 [DockingStepper](INFO): Standby mode.
2025-06-05T17:09:17.430Z,1749143357.430 [DockingStepper](INFO): Commanding positive:17116
2025-06-05T17:09:19.450Z,1749143359.450 [DockingStepper](INFO): Commanding positive:17011
2025-06-05T17:09:21.494Z,1749143361.494 [DockingStepper](INFO): Commanding positive:17060
2025-06-05T17:09:23.506Z,1749143363.506 [DockingStepper](INFO): Commanding positive:17054
2025-06-05T17:09:25.486Z,1749143365.486 [DockingStepper](INFO): Commanding positive:17153
2025-06-05T17:09:27.567Z,1749143367.567 [DockingStepper](INFO): Commanding positive:17060
2025-06-05T17:09:27.595Z,1749143367.595 [DockingStepper](FAULT): Timed out moving from: 13679 to: 16450 response: ÿ
2025-06-05T17:09:27.595Z,1749143367.595 [DockingStepper] Hardware Fault, FailCount= 2
2025-06-05T17:09:27.595Z,1749143367.595 [DockingStepper](ERROR): Hardware Fault
2025-06-05T17:09:27.735Z,1749143367.735 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-06-05T17:09:27.869Z,1749143367.869 [DockingStepper](INFO): Stop
2025-06-05T17:09:27.869Z,1749143367.869 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-05T17:09:27.869Z,1749143367.869 [DockingStepper](INFO): Powering down
2025-06-05T17:09:28.237Z,1749143368.237 [DockingStepper](INFO): Stopping
2025-06-05T17:09:28.689Z,1749143368.689 [DockingStepper](INFO): Stopping
2025-06-05T17:09:29.011Z,1749143369.011 [DockingStepper](INFO): Stopping
2025-06-05T17:09:29.440Z,1749143369.440 [DockingStepper](INFO): Stopping
2025-06-05T17:09:29.866Z,1749143369.866 [DockingStepper](INFO): Stopping
2025-06-05T17:09:30.305Z,1749143370.305 [DockingStepper](INFO): Stopping
2025-06-05T17:09:30.690Z,1749143370.690 [DockingStepper](INFO): Stopping
2025-06-05T17:09:31.058Z,1749143371.058 [DockingStepper](INFO): Stopping
2025-06-05T17:09:31.130Z,1749143371.130 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T17:09:31.436Z,1749143371.436 [DockingStepper](INFO): Stopping
2025-06-05T17:09:31.890Z,1749143371.890 [DockingStepper](INFO): Stopping
2025-06-05T17:09:32.248Z,1749143372.248 [DockingStepper](INFO): Stopping
2025-06-05T17:09:32.755Z,1749143372.755 [DockingStepper](INFO): Stopping
2025-06-05T17:09:33.073Z,1749143373.073 [DockingStepper](INFO): Stopping
2025-06-05T17:09:33.191Z,1749143373.191 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:09:33.449Z,1749143373.449 [DockingStepper](INFO): Stopping
2025-06-05T17:09:33.912Z,1749143373.912 [DockingStepper](INFO): Stopping
2025-06-05T17:09:34.194Z,1749143374.194 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:09:34.280Z,1749143374.280 [DockingStepper](INFO): Stopping
2025-06-05T17:09:34.747Z,1749143374.747 [DockingStepper](INFO): Stopping
2025-06-05T17:09:35.115Z,1749143375.115 [DockingStepper](INFO): Stopping
2025-06-05T17:09:35.478Z,1749143375.478 [DockingStepper](INFO): Stopping
2025-06-05T17:09:35.928Z,1749143375.928 [DockingStepper](INFO): Stopping
2025-06-05T17:09:36.312Z,1749143376.312 [DockingStepper](INFO): Stopping
2025-06-05T17:09:36.721Z,1749143376.721 [DockingStepper](INFO): Stopping
2025-06-05T17:09:37.137Z,1749143377.137 [DockingStepper](INFO): Stopping
2025-06-05T17:09:37.499Z,1749143377.499 [DockingStepper](INFO): Stopping
2025-06-05T17:09:37.928Z,1749143377.928 [DockingStepper](INFO): Stopping
2025-06-05T17:09:38.299Z,1749143378.299 [DockingStepper](INFO): Stopping
2025-06-05T17:09:38.758Z,1749143378.758 [DockingStepper](INFO): Stopping
2025-06-05T17:09:39.128Z,1749143379.128 [DockingStepper](INFO): Stopping
2025-06-05T17:09:39.517Z,1749143379.517 [DockingStepper](INFO): Stopping
2025-06-05T17:09:39.961Z,1749143379.961 [DockingStepper](INFO): Stopping
2025-06-05T17:09:40.364Z,1749143380.364 [DockingStepper](INFO): Stopping
2025-06-05T17:09:40.798Z,1749143380.798 [DockingStepper](INFO): Stopping
2025-06-05T17:09:41.128Z,1749143381.128 [DockingStepper](INFO): Stopping
2025-06-05T17:09:41.555Z,1749143381.555 [DockingStepper](INFO): Stopping
2025-06-05T17:09:42.008Z,1749143382.008 [DockingStepper](INFO): Stopping
2025-06-05T17:09:42.344Z,1749143382.344 [DockingStepper](INFO): Stopping
2025-06-05T17:09:42.794Z,1749143382.794 [DockingStepper](INFO): Stopping
2025-06-05T17:09:43.148Z,1749143383.148 [DockingStepper](INFO): Stopping
2025-06-05T17:09:43.611Z,1749143383.611 [DockingStepper](INFO): Stopping
2025-06-05T17:09:44.016Z,1749143384.016 [DockingStepper](INFO): Stopping
2025-06-05T17:09:44.362Z,1749143384.362 [DockingStepper](INFO): Stopping
2025-06-05T17:09:44.849Z,1749143384.849 [DockingStepper](INFO): Stopping
2025-06-05T17:09:45.206Z,1749143385.206 [DockingStepper](INFO): Stopping
2025-06-05T17:09:45.630Z,1749143385.630 [DockingStepper](INFO): Stopping
2025-06-05T17:09:46.039Z,1749143386.039 [DockingStepper](INFO): Stopping
2025-06-05T17:09:46.395Z,1749143386.395 [DockingStepper](INFO): Stopping
2025-06-05T17:09:46.861Z,1749143386.861 [DockingStepper](INFO): Stopping
2025-06-05T17:09:47.210Z,1749143387.210 [DockingStepper](INFO): Stopping
2025-06-05T17:09:47.638Z,1749143387.638 [DockingStepper](INFO): Stopping
2025-06-05T17:09:48.046Z,1749143388.046 [DockingStepper](INFO): Stopping
2025-06-05T17:09:48.446Z,1749143388.446 [DockingStepper](INFO): Stopped
2025-06-05T17:09:48.580Z,1749143388.580 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-06-05T17:09:48.580Z,1749143388.580 [DockingStepper] No Fault, FailCount= 2
2025-06-05T17:09:48.893Z,1749143388.893 [DockingStepper](INFO): Start
2025-06-05T17:09:48.893Z,1749143388.893 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-05T17:09:48.894Z,1749143388.894 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-05T17:09:49.216Z,1749143389.216 [DockingStepper](INFO): Starting
2025-06-05T17:09:49.676Z,1749143389.676 [DockingStepper](INFO): Starting
2025-06-05T17:09:50.061Z,1749143390.061 [DockingStepper](INFO): Starting
2025-06-05T17:09:50.111Z,1749143390.111 [DockingStepper](INFO): Init string: /1z13696aE13561N3m50
2025-06-05T17:09:50.424Z,1749143390.424 [DockingStepper](INFO): Starting
2025-06-05T17:09:50.915Z,1749143390.915 [DockingStepper](INFO): Starting
2025-06-05T17:09:51.264Z,1749143391.264 [DockingStepper](INFO): Starting
2025-06-05T17:09:51.689Z,1749143391.689 [DockingStepper](INFO): Starting
2025-06-05T17:09:51.715Z,1749143391.715 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-05T17:09:52.076Z,1749143392.076 [DockingStepper](INFO): Starting
2025-06-05T17:09:52.441Z,1749143392.441 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T17:09:52.441Z,1749143392.441 [DockingStepper](INFO): Standby mode.
2025-06-05T17:09:52.506Z,1749143392.506 [DockingStepper](INFO): Commanding positive:16956
2025-06-05T17:09:54.055Z,1749143394.055 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  72.33,  72.99,  71.29
2025-06-05T17:09:54.530Z,1749143394.530 [DockingStepper](INFO): Commanding positive:17060
2025-06-05T17:09:56.582Z,1749143396.582 [DockingStepper](INFO): Commanding positive:17054
2025-06-05T17:09:58.566Z,1749143398.566 [DockingStepper](INFO): Commanding positive:16863
2025-06-05T17:10:00.591Z,1749143400.591 [DockingStepper](INFO): Commanding positive:17023
2025-06-05T17:10:02.654Z,1749143402.654 [DockingStepper](INFO): Commanding positive:16980
2025-06-05T17:10:02.683Z,1749143402.683 [DockingStepper](FAULT): Timed out moving from: 13692 to: 16450 response: ÿ
2025-06-05T17:10:02.683Z,1749143402.683 [DockingStepper] Hardware Fault, FailCount= 3
2025-06-05T17:10:02.683Z,1749143402.683 [DockingStepper](ERROR): Hardware Fault
2025-06-05T17:10:02.843Z,1749143402.843 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-06-05T17:10:03.021Z,1749143403.021 [DockingStepper](INFO): Stop
2025-06-05T17:10:03.021Z,1749143403.021 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-05T17:10:03.021Z,1749143403.021 [DockingStepper](INFO): Powering down
2025-06-05T17:10:03.407Z,1749143403.407 [DockingStepper](INFO): Stopping
2025-06-05T17:10:03.780Z,1749143403.780 [DockingStepper](INFO): Stopping
2025-06-05T17:10:04.253Z,1749143404.253 [DockingStepper](INFO): Stopping
2025-06-05T17:10:04.315Z,1749143404.315 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:10:04.579Z,1749143404.579 [DockingStepper](INFO): Stopping
2025-06-05T17:10:05.053Z,1749143405.053 [DockingStepper](INFO): Stopping
2025-06-05T17:10:05.320Z,1749143405.320 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:10:05.407Z,1749143405.407 [DockingStepper](INFO): Stopping
2025-06-05T17:10:05.807Z,1749143405.807 [DockingStepper](INFO): Stopping
2025-06-05T17:10:06.233Z,1749143406.233 [DockingStepper](INFO): Stopping
2025-06-05T17:10:06.595Z,1749143406.595 [DockingStepper](INFO): Stopping
2025-06-05T17:10:07.072Z,1749143407.072 [DockingStepper](INFO): Stopping
2025-06-05T17:10:07.437Z,1749143407.437 [DockingStepper](INFO): Stopping
2025-06-05T17:10:07.847Z,1749143407.847 [DockingStepper](INFO): Stopping
2025-06-05T17:10:08.245Z,1749143408.245 [DockingStepper](INFO): Stopping
2025-06-05T17:10:08.628Z,1749143408.628 [DockingStepper](INFO): Stopping
2025-06-05T17:10:09.084Z,1749143409.084 [DockingStepper](INFO): Stopping
2025-06-05T17:10:09.458Z,1749143409.458 [DockingStepper](INFO): Stopping
2025-06-05T17:10:09.820Z,1749143409.820 [DockingStepper](INFO): Stopping
2025-06-05T17:10:10.248Z,1749143410.248 [DockingStepper](INFO): Stopping
2025-06-05T17:10:10.617Z,1749143410.617 [DockingStepper](INFO): Stopping
2025-06-05T17:10:11.030Z,1749143411.030 [DockingStepper](INFO): Stopping
2025-06-05T17:10:11.487Z,1749143411.487 [DockingStepper](INFO): Stopping
2025-06-05T17:10:11.859Z,1749143411.859 [DockingStepper](INFO): Stopping
2025-06-05T17:10:12.303Z,1749143412.303 [DockingStepper](INFO): Stopping
2025-06-05T17:10:12.641Z,1749143412.641 [DockingStepper](INFO): Stopping
2025-06-05T17:10:13.061Z,1749143413.061 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging.
2025-06-05T17:10:13.089Z,1749143413.089 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T17:10:13.120Z,1749143413.120 [DockingStepper](INFO): Stopping
2025-06-05T17:10:13.339Z,1749143413.339 [DAT](INFO): DAT read: user:2599>

2025-06-05T17:10:13.340Z,1749143413.340 [DAT](INFO): DAT read: Tx time:17:10:12.4162

2025-06-05T17:10:13.340Z,1749143413.340 [DAT](INFO): Ping request sent.
2025-06-05T17:10:13.340Z,1749143413.340 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:10:13.340Z,1749143413.340 [DAT](INFO): publishing transmit ping time
2025-06-05T17:10:13.341Z,1749143413.341 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T17:10:13.520Z,1749143413.520 [DockingStepper](INFO): Stopping
2025-06-05T17:10:13.591Z,1749143413.591 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T17:10:13.895Z,1749143413.895 [DockingStepper](INFO): Stopping
2025-06-05T17:10:14.308Z,1749143414.308 [DockingStepper](INFO): Stopping
2025-06-05T17:10:14.666Z,1749143414.666 [DockingStepper](INFO): Stopping
2025-06-05T17:10:15.089Z,1749143415.089 [DockingStepper](INFO): Stopping
2025-06-05T17:10:15.533Z,1749143415.533 [DockingStepper](INFO): Stopping
2025-06-05T17:10:15.620Z,1749143415.620 [DAT](INFO): DAT read: Rx Time:17:10:14.2874

2025-06-05T17:10:15.621Z,1749143415.621 [DAT](INFO): Rx dataTimestamp_ set to:1749143415.620390
2025-06-05T17:10:15.878Z,1749143415.878 [DockingStepper](INFO): Stopping
2025-06-05T17:10:16.123Z,1749143416.123 [DAT](INFO): DAT read: OK

2025-06-05T17:10:16.123Z,1749143416.123 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:10:16.124Z,1749143416.124 [DAT](INFO): DAT read: user:2600>

2025-06-05T17:10:16.124Z,1749143416.124 [DAT](INFO): DAT read: Tx time:17:10:15.3662

2025-06-05T17:10:16.125Z,1749143416.125 [DAT](INFO): Ping request sent.
2025-06-05T17:10:16.125Z,1749143416.125 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:10:16.125Z,1749143416.125 [DAT](INFO): publishing transmit ping time
2025-06-05T17:10:16.332Z,1749143416.332 [DockingStepper](INFO): Stopping
2025-06-05T17:10:16.682Z,1749143416.682 [DockingStepper](INFO): Stopping
2025-06-05T17:10:17.100Z,1749143417.100 [DockingStepper](INFO): Stopping
2025-06-05T17:10:17.533Z,1749143417.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T17:10:17.577Z,1749143417.577 [DockingStepper](INFO): Stopping
2025-06-05T17:10:17.636Z,1749143417.636 [DAT](INFO): ****** received valid address query ******
2025-06-05T17:10:17.636Z,1749143417.636 [DAT](INFO): ****** received valid ping request ******
2025-06-05T17:10:17.636Z,1749143417.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T17:10:17.887Z,1749143417.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762648
2025-06-05T17:10:17.894Z,1749143417.894 [DockingStepper](INFO): Stopping
2025-06-05T17:10:18.139Z,1749143418.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014338
2025-06-05T17:10:18.363Z,1749143418.363 [DockingStepper](INFO): Stopping
2025-06-05T17:10:18.392Z,1749143418.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266702
2025-06-05T17:10:18.643Z,1749143418.643 [DAT](INFO): DAT read: Rx Time:17:10:17.2374

2025-06-05T17:10:18.644Z,1749143418.644 [DAT](INFO): Rx dataTimestamp_ set to:1749143418.643492
2025-06-05T17:10:18.644Z,1749143418.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519508
2025-06-05T17:10:18.737Z,1749143418.737 [DockingStepper](INFO): Stopping
2025-06-05T17:10:18.899Z,1749143418.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774229
2025-06-05T17:10:19.156Z,1749143419.156 [DAT](INFO): DAT read: 17:10:17.2374 LVL= 16080, 23265, 12738, 12563, AGC= 36, IDX= 449,-0.15,-0.647, 1.148,-0.229, 1.073, PHS=-1.631, 0.122,-1.305, RAW= 319.9,  31.6, CAL= 323.8,  33.4, ROT= 186.2, -33.4

2025-06-05T17:10:19.157Z,1749143419.157 [DAT](INFO): got valid direction response:
 17:10:17.2374 LVL= 16080, 23265, 12738, 12563, AGC= 36, IDX= 449,-0.15,-0.647, 1.148,-0.229, 1.073, PHS=-1.631, 0.122,-1.305, RAW= 319.9,  31.6, CAL= 323.8,  33.4, ROT= 186.2, -33.4

2025-06-05T17:10:19.158Z,1749143419.158 [DAT](INFO): DAT read: OK

2025-06-05T17:10:19.158Z,1749143419.158 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:10:19.159Z,1749143419.159 [DAT](INFO): DAT read: user:2601>

2025-06-05T17:10:19.159Z,1749143419.159 [DAT](INFO): DAT read: Tx time:17:10:18.3162

2025-06-05T17:10:19.160Z,1749143419.160 [DAT](INFO): Ping request sent.
2025-06-05T17:10:19.160Z,1749143419.160 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:10:19.160Z,1749143419.160 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T17:10:19.161Z,1749143419.161 [DAT](INFO): direction in FSK: [-0.829965,-0.090163,0.550481]
2025-06-05T17:10:19.161Z,1749143419.161 [DAT](INFO): publishing transmit ping time
2025-06-05T17:10:19.177Z,1749143419.177 [DockingStepper](INFO): Stopping
2025-06-05T17:10:19.185Z,1749143419.185 [DAT](INFO): publishing transmit ping time
2025-06-05T17:10:19.580Z,1749143419.580 [DockingStepper](INFO): Stopping
2025-06-05T17:10:19.992Z,1749143419.992 [DockingStepper](INFO): Stopping
2025-06-05T17:10:20.373Z,1749143420.373 [DockingStepper](INFO): Stopping
2025-06-05T17:10:20.741Z,1749143420.741 [DockingStepper](INFO): Stopping
2025-06-05T17:10:21.161Z,1749143421.161 [DockingStepper](INFO): Stopping
2025-06-05T17:10:21.597Z,1749143421.597 [DockingStepper](INFO): Stopping
2025-06-05T17:10:21.683Z,1749143421.683 [DAT](INFO): DAT read: Rx Time:17:10:20.1875

2025-06-05T17:10:21.684Z,1749143421.684 [DAT](INFO): Rx dataTimestamp_ set to:1749143421.683309
2025-06-05T17:10:21.947Z,1749143421.947 [DockingStepper](INFO): Stopping
2025-06-05T17:10:22.192Z,1749143422.192 [DAT](INFO): DAT read: 17:10:20.1875 LVL= 13888, 23393, 11474, 10115, AGC= 34, IDX= 449, 0.29, 1.687,-3.103, 1.920,-3.012, PHS=-1.497,-0.045,-1.355, RAW= 324.9,  36.5, CAL= 327.5,  36.9, ROT= 182.5, -36.9

2025-06-05T17:10:22.193Z,1749143422.193 [DAT](INFO): got valid direction response:
 17:10:20.1875 LVL= 13888, 23393, 11474, 10115, AGC= 34, IDX= 449, 0.29, 1.687,-3.103, 1.920,-3.012, PHS=-1.497,-0.045,-1.355, RAW= 324.9,  36.5, CAL= 327.5,  36.9, ROT= 182.5, -36.9

2025-06-05T17:10:22.193Z,1749143422.193 [DAT](INFO): DAT read: OK

2025-06-05T17:10:22.193Z,1749143422.193 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T17:10:22.194Z,1749143422.194 [DAT](INFO): DAT read: user:2602>

2025-06-05T17:10:22.195Z,1749143422.195 [DAT](INFO): DAT read: Tx time:17:10:21.2672

2025-06-05T17:10:22.195Z,1749143422.195 [DAT](INFO): Ping request sent.
2025-06-05T17:10:22.195Z,1749143422.195 [DAT](INFO): transmitted an acoustic signal
2025-06-05T17:10:22.196Z,1749143422.196 [DAT](INFO): DAT read: TxSync time:17:10:21.2665

2025-06-05T17:10:22.196Z,1749143422.196 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-06-05T17:10:22.197Z,1749143422.197 [DAT](INFO): direction in FSK: [-0.798924,-0.034882,0.600420]
2025-06-05T17:10:22.198Z,1749143422.198 [DAT](INFO): publishing transmit ping time
2025-06-05T17:10:22.200Z,1749143422.200 [DAT](INFO): publishing transmit ping time
2025-06-05T17:10:22.448Z,1749143422.448 [DockingStepper](INFO): Stopping
2025-06-05T17:10:22.748Z,1749143422.748 [DockingStepper](INFO): Stopping
2025-06-05T17:10:23.193Z,1749143423.193 [DockingStepper](INFO): Stopping
2025-06-05T17:10:23.590Z,1749143423.590 [DockingStepper](INFO): Stopped
2025-06-05T17:10:23.631Z,1749143423.631 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-06-05T17:10:23.631Z,1749143423.631 [DockingStepper] No Fault, FailCount= 3
2025-06-05T17:10:23.968Z,1749143423.968 [DockingStepper](INFO): Start
2025-06-05T17:10:23.969Z,1749143423.969 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-05T17:10:23.971Z,1749143423.971 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-05T17:10:24.411Z,1749143424.411 [DockingStepper](INFO): Starting
2025-06-05T17:10:24.791Z,1749143424.791 [DockingStepper](INFO): Starting
2025-06-05T17:10:24.959Z,1749143424.959 [DAT](INFO): DAT read: Rx Time:17:10:23.6722

2025-06-05T17:10:24.960Z,1749143424.960 [DAT](INFO): Rx dataTimestamp_ set to:1749143424.959536
2025-06-05T17:10:25.167Z,1749143425.167 [DockingStepper](INFO): Starting
2025-06-05T17:10:25.220Z,1749143425.220 [DockingStepper](INFO): Init string: /1z13694aE13561N3m50
2025-06-05T17:10:25.622Z,1749143425.622 [DockingStepper](INFO): Starting
2025-06-05T17:10:25.721Z,1749143425.721 [DAT](INFO): DAT read: 17:10:23.6723 LVL= 17568, 17841, 12914, 13379, AGC= 37, IDX= 262, 0.01,-2.075, 0.066,-1.253,-0.258, PHS=-1.729, 0.371,-0.998, RAW= 310.0,  24.3, CAL= 315.0,  28.3, ROT= 195.0, -28.3

2025-06-05T17:10:25.722Z,1749143425.722 [DAT](INFO): got valid direction response:
 17:10:23.6723 LVL= 17568, 17841, 12914, 13379, AGC= 37, IDX= 262, 0.01,-2.075, 0.066,-1.253,-0.258, PHS=-1.729, 0.371,-0.998, RAW= 310.0,  24.3, CAL= 315.0,  28.3, ROT= 195.0, -28.3

2025-06-05T17:10:25.724Z,1749143425.724 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T17:10:25.724Z,1749143425.724 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-05T17:10:25.725Z,1749143425.725 [DAT](INFO): direction in FSK: [-0.850476,-0.227884,0.474088]
2025-06-05T17:10:25.726Z,1749143425.726 [DAT](INFO): publishing direction and range info
2025-06-05T17:10:25.992Z,1749143425.992 [DockingStepper](INFO): Starting
2025-06-05T17:10:26.436Z,1749143426.436 [DockingStepper](INFO): Starting
2025-06-05T17:10:26.859Z,1749143426.859 [DockingStepper](INFO): Starting
2025-06-05T17:10:26.887Z,1749143426.887 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-05T17:10:27.187Z,1749143427.187 [DockingStepper](INFO): Starting
2025-06-05T17:10:27.641Z,1749143427.641 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T17:10:27.641Z,1749143427.641 [DockingStepper](INFO): Standby mode.
2025-06-05T17:10:27.706Z,1749143427.706 [DockingStepper](INFO): Commanding positive:16974
2025-06-05T17:10:29.702Z,1749143429.702 [DockingStepper](INFO): Commanding positive:17054
2025-06-05T17:10:31.787Z,1749143431.787 [DockingStepper](INFO): Commanding positive:16894
2025-06-05T17:10:33.758Z,1749143433.758 [DockingStepper](INFO): Commanding positive:17054
2025-06-05T17:10:35.441Z,1749143435.441 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:10:35.819Z,1749143435.819 [DockingStepper](INFO): Commanding positive:16956
2025-06-05T17:10:36.444Z,1749143436.444 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:10:37.268Z,1749143437.268 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-06-05T17:10:37.268Z,1749143437.268 [lineCaptureHoming:Lap:Docked:Docked.Docked](FAULT): Reached max slide retries without successful comms or charge, attempt will be aborted
2025-06-05T17:10:37.269Z,1749143437.269 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-06-05T17:10:37.303Z,1749143437.303 [DockingStepper](INFO): Changing to mode: 4
2025-06-05T17:10:37.303Z,1749143437.303 [DockingStepper](INFO): Slide mode.
2025-06-05T17:10:37.727Z,1749143437.727 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act...
2025-06-05T17:10:37.819Z,1749143437.819 [DockingStepper](INFO): Commanding negative:18446
2025-06-05T17:10:52.515Z,1749143452.515 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T17:11:03.956Z,1749143463.956 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +51.51,      +65     +0.02,   7.47,  0.00
2025-06-05T17:11:05.916Z,1749143465.916 [CTD_Seabird](ERROR): Failed to parse device response: 64.01,9.5336,3.649227
2025-06-05T17:11:06.565Z,1749143466.565 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T17:11:07.567Z,1749143467.567 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T17:11:08.029Z,1749143468.029 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2025-06-05T17:11:08.030Z,1749143468.030 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-06-05T17:11:08.031Z,1749143468.031 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-06-05T17:11:08.031Z,1749143468.031 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-06-05T17:11:08.031Z,1749143468.031 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-06-05T17:11:08.053Z,1749143468.053 [DockingStepper](INFO): Changing to mode: 2
2025-06-05T17:11:08.053Z,1749143468.053 [DockingStepper](INFO): Armed mode.
2025-06-05T17:11:08.119Z,1749143468.119 [DockingStepper](INFO): Commanding negative:20213
2025-06-05T17:11:08.406Z,1749143468.406 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-06-05T17:11:08.406Z,1749143468.406 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-06-05T17:11:08.406Z,1749143468.406 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-06-05T17:11:08.406Z,1749143468.406 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-06-05T17:11:08.407Z,1749143468.407 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-06-05T17:11:08.407Z,1749143468.407 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-06-05T17:11:08.787Z,1749143468.787 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-06-05T17:11:08.787Z,1749143468.787 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-06-05T17:11:08.787Z,1749143468.787 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-06-05T17:11:08.787Z,1749143468.787 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-06-05T17:11:08.787Z,1749143468.787 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-06-05T17:11:08.787Z,1749143468.787 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-06-05T17:11:08.787Z,1749143468.787 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-06-05T17:11:08.788Z,1749143468.788 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-06-05T17:11:08.788Z,1749143468.788 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-06-05T17:11:08.788Z,1749143468.788 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-06-05T17:11:09.227Z,1749143469.227 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-06-05T17:11:09.227Z,1749143469.227 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-06-05T17:11:09.227Z,1749143469.227 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-06-05T17:11:09.227Z,1749143469.227 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-06-05T17:11:09.227Z,1749143469.227 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-06-05T17:11:09.227Z,1749143469.227 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-06-05T17:11:09.228Z,1749143469.228 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-06-05T17:11:09.228Z,1749143469.228 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-06-05T17:11:09.228Z,1749143469.228 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-06-05T17:11:09.228Z,1749143469.228 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T17:11:09.228Z,1749143469.228 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-06-05T17:11:09.228Z,1749143469.228 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-06-05T17:11:09.228Z,1749143469.228 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-06-05T17:11:09.228Z,1749143469.228 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-06-05T17:11:09.228Z,1749143469.228 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-06-05T17:11:09.228Z,1749143469.228 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-06-05T17:11:09.229Z,1749143469.229 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-06-05T17:11:09.590Z,1749143469.590 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-06-05T17:11:09.590Z,1749143469.590 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-06-05T17:11:09.591Z,1749143469.591 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-06-05T17:11:09.591Z,1749143469.591 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-06-05T17:11:09.591Z,1749143469.591 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T17:11:09.591Z,1749143469.591 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-06-05T17:11:09.591Z,1749143469.591 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-06-05T17:11:09.591Z,1749143469.591 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-06-05T17:11:09.591Z,1749143469.591 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-06-05T17:11:09.591Z,1749143469.591 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-06-05T17:11:09.591Z,1749143469.591 [lineCaptureHoming:Lap:Docked] Stopped
2025-06-05T17:11:09.591Z,1749143469.591 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-06-05T17:11:09.592Z,1749143469.592 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-06-05T17:11:09.592Z,1749143469.592 [lineCaptureHoming:Lap] Stopped
2025-06-05T17:11:09.592Z,1749143469.592 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-06-05T17:11:09.596Z,1749143469.596 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-06-05T17:11:09.596Z,1749143469.596 [MissionManager](INFO): lineCaptureHoming is completed.
2025-06-05T17:11:09.596Z,1749143469.596 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-06-05T17:11:09.597Z,1749143469.597 [lineCaptureHoming] Stopped
2025-06-05T17:11:09.597Z,1749143469.597 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-06-05T17:11:09.597Z,1749143469.597 [lineCaptureHoming:Science] Stopped
2025-06-05T17:11:09.597Z,1749143469.597 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-06-05T17:11:09.597Z,1749143469.597 [lineCaptureHoming:Science:B] Stopped
2025-06-05T17:11:09.597Z,1749143469.597 [lineCaptureHoming:Science:C] Stopped
2025-06-05T17:11:09.597Z,1749143469.597 [lineCaptureHoming:Science:E] Stopped
2025-06-05T17:11:09.597Z,1749143469.597 [lineCaptureHoming:Science:F] Stopped
2025-06-05T17:11:09.597Z,1749143469.597 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-06-05T17:11:09.597Z,1749143469.597 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-06-05T17:11:09.597Z,1749143469.597 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-06-05T17:11:09.597Z,1749143469.597 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-06-05T17:11:09.598Z,1749143469.598 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-06-05T17:11:09.598Z,1749143469.598 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T17:11:09.598Z,1749143469.598 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T17:11:09.598Z,1749143469.598 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T17:11:09.618Z,1749143469.618 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T17:11:09.619Z,1749143469.619 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T17:11:09.619Z,1749143469.619 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T17:11:09.619Z,1749143469.619 [lineCaptureHoming:TrackAC.] Stopped
2025-06-05T17:11:09.619Z,1749143469.619 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-05T17:11:09.713Z,1749143469.713 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-06-05T17:11:09.890Z,1749143469.890 [WetLabsUBAT](INFO): Powering down
2025-06-05T17:11:09.964Z,1749143469.964 [WetLabsBB2FL](INFO): Powering down
2025-06-05T17:11:09.996Z,1749143469.996 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-06-05T17:11:09.996Z,1749143469.996 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-06-05T17:11:10.011Z,1749143470.011 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-06-05T17:11:14.878Z,1749143474.878 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-06-05T17:11:14.883Z,1749143474.883 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-06-05T17:11:14.886Z,1749143474.886 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-06-05T17:11:14.889Z,1749143474.889 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-06-05T17:11:14.892Z,1749143474.892 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-06-05T17:11:14.894Z,1749143474.894 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-06-05T17:11:14.897Z,1749143474.897 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-06-05T17:11:14.899Z,1749143474.899 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m
2025-06-05T17:11:14.901Z,1749143474.901 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-06-05T17:11:14.904Z,1749143474.904 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-06-05T17:11:14.906Z,1749143474.906 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-06-05T17:11:14.908Z,1749143474.908 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-06-05T17:11:14.915Z,1749143474.915 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-06-05T17:11:14.917Z,1749143474.917 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-06-05T17:11:14.917Z,1749143474.917 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-05T17:11:14.918Z,1749143474.918 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-05T17:11:14.919Z,1749143474.919 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-05T17:11:15.213Z,1749143475.213 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-05T17:11:15.221Z,1749143475.221 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-05T17:11:15.228Z,1749143475.228 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-05T17:11:15.230Z,1749143475.230 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-05T17:11:15.237Z,1749143475.237 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-05T17:11:15.238Z,1749143475.238 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T17:11:15.267Z,1749143475.267 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T17:11:15.276Z,1749143475.276 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-05T17:11:15.287Z,1749143475.287 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-05T17:11:15.287Z,1749143475.287 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-05T17:11:15.288Z,1749143475.288 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-05T17:11:15.307Z,1749143475.307 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-06-05T17:11:15.311Z,1749143475.311 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-06-05T17:11:15.313Z,1749143475.313 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-05T17:11:15.344Z,1749143475.344 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-05T17:11:15.344Z,1749143475.344 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-05T17:11:15.345Z,1749143475.345 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-05T17:11:15.562Z,1749143475.562 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-06-05T17:11:15.565Z,1749143475.565 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-06-05T17:11:15.568Z,1749143475.568 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-06-05T17:11:15.571Z,1749143475.571 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-06-05T17:11:15.573Z,1749143475.573 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-06-05T17:11:15.577Z,1749143475.577 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-06-05T17:11:15.617Z,1749143475.617 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-05T17:11:15.633Z,1749143475.633 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-06-05T17:11:15.638Z,1749143475.638 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-05T17:11:15.638Z,1749143475.638 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-05T17:11:15.651Z,1749143475.651 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-05T17:11:19.811Z,1749143479.811 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-06-05T17:11:19.901Z,1749143479.901 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-06-05T17:11:19.908Z,1749143479.908 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-06-05T17:11:19.910Z,1749143479.910 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-06-05T17:11:19.912Z,1749143479.912 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-06-05T17:11:19.914Z,1749143479.914 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-06-05T17:11:19.917Z,1749143479.917 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-06-05T17:11:19.920Z,1749143479.920 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-06-05T17:11:19.925Z,1749143479.925 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-06-05T17:11:19.964Z,1749143479.964 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-05T17:11:19.972Z,1749143479.972 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-05T17:11:19.975Z,1749143479.975 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-06-05T17:11:19.998Z,1749143479.998 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-06-05T17:11:20.000Z,1749143480.000 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-06-05T17:11:20.015Z,1749143480.015 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-06-05T17:11:20.017Z,1749143480.017 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T17:11:20.023Z,1749143480.023 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T17:11:20.025Z,1749143480.025 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T17:11:20.031Z,1749143480.031 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T17:11:20.033Z,1749143480.033 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T17:11:20.062Z,1749143480.062 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T17:11:20.077Z,1749143480.077 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T17:11:20.093Z,1749143480.093 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T17:11:20.114Z,1749143480.114 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-05T17:11:20.137Z,1749143480.137 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-06-05T17:11:20.151Z,1749143480.151 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-06-05T17:11:20.164Z,1749143480.164 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-06-05T17:11:20.171Z,1749143480.171 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-06-05T17:11:20.173Z,1749143480.173 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-05T17:11:20.176Z,1749143480.176 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-05T17:11:20.191Z,1749143480.191 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 bool
2025-06-05T17:11:20.193Z,1749143480.193 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-06-05T17:11:20.204Z,1749143480.204 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-06-05T17:11:20.206Z,1749143480.206 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-06-05T17:11:20.212Z,1749143480.212 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-06-05T17:11:20.219Z,1749143480.219 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-05T17:11:20.221Z,1749143480.221 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-06-05T17:11:20.267Z,1749143480.267 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-06-05T17:11:20.269Z,1749143480.269 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-05T17:11:20.280Z,1749143480.280 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-06-05T17:11:20.282Z,1749143480.282 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-06-05T17:11:20.296Z,1749143480.296 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-06-05T17:11:20.307Z,1749143480.307 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-06-05T17:11:20.323Z,1749143480.323 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-05T17:11:20.325Z,1749143480.325 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-05T17:11:20.336Z,1749143480.336 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-05T17:11:20.338Z,1749143480.338 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-05T17:11:20.345Z,1749143480.345 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-06-05T17:11:20.352Z,1749143480.352 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-06-05T17:11:20.367Z,1749143480.367 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-06-05T17:11:20.369Z,1749143480.369 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-06-05T17:11:20.376Z,1749143480.376 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-06-05T17:11:20.380Z,1749143480.380 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-06-05T17:11:20.396Z,1749143480.396 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-06-05T17:11:20.415Z,1749143480.415 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-06-05T17:11:20.417Z,1749143480.417 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-06-05T17:11:20.424Z,1749143480.424 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-06-05T17:11:20.431Z,1749143480.431 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-06-05T17:11:20.433Z,1749143480.433 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-06-05T17:11:20.440Z,1749143480.440 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-06-05T17:11:20.450Z,1749143480.450 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-06-05T17:11:20.453Z,1749143480.453 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-06-05T17:11:20.455Z,1749143480.455 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-06-05T17:11:20.458Z,1749143480.458 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-06-05T17:11:20.468Z,1749143480.468 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-06-05T17:11:20.487Z,1749143480.487 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-06-05T17:11:20.489Z,1749143480.489 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-06-05T17:11:20.495Z,1749143480.495 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-06-05T17:11:20.498Z,1749143480.498 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-06-05T17:11:20.504Z,1749143480.504 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-06-05T17:11:20.511Z,1749143480.511 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-06-05T17:11:20.513Z,1749143480.513 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-06-05T17:11:20.519Z,1749143480.519 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-06-05T17:11:20.522Z,1749143480.522 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-06-05T17:11:20.532Z,1749143480.532 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-06-05T17:11:20.539Z,1749143480.539 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-06-05T17:11:20.543Z,1749143480.543 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-05T17:11:20.546Z,1749143480.546 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-05T17:11:20.548Z,1749143480.548 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-05T17:11:20.555Z,1749143480.555 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T17:11:20.557Z,1749143480.557 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T17:11:20.564Z,1749143480.564 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-05T17:11:20.580Z,1749143480.580 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-05T17:11:20.594Z,1749143480.594 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-05T17:11:20.597Z,1749143480.597 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T17:11:20.607Z,1749143480.607 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T17:11:20.610Z,1749143480.610 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-05T17:11:20.616Z,1749143480.616 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-05T17:11:20.623Z,1749143480.623 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-05T17:11:20.626Z,1749143480.626 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T17:11:20.664Z,1749143480.664 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T17:11:20.675Z,1749143480.675 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-05T17:11:20.677Z,1749143480.677 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-05T17:11:20.688Z,1749143480.688 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-05T17:11:20.703Z,1749143480.703 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T17:11:20.705Z,1749143480.705 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T17:11:20.708Z,1749143480.708 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-05T17:11:20.720Z,1749143480.720 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-05T17:11:20.741Z,1749143480.741 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-05T17:11:20.752Z,1749143480.752 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T17:11:20.758Z,1749143480.758 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T17:11:20.762Z,1749143480.762 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-05T17:11:20.770Z,1749143480.770 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-05T17:11:20.781Z,1749143480.781 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-05T17:11:20.788Z,1749143480.788 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T17:11:20.801Z,1749143480.801 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T17:11:20.808Z,1749143480.808 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-05T17:11:20.815Z,1749143480.815 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-05T17:11:20.817Z,1749143480.817 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T17:11:20.820Z,1749143480.820 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T17:11:20.826Z,1749143480.826 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T17:11:20.829Z,1749143480.829 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-05T17:11:20.834Z,1749143480.834 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-05T17:11:20.848Z,1749143480.848 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T17:11:20.855Z,1749143480.855 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T17:11:20.857Z,1749143480.857 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T17:11:20.872Z,1749143480.872 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-06-05T17:11:20.886Z,1749143480.886 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-06-05T17:11:20.889Z,1749143480.889 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-06-05T17:11:20.907Z,1749143480.907 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-06-05T17:11:20.909Z,1749143480.909 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-06-05T17:11:20.916Z,1749143480.916 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-06-05T17:11:20.922Z,1749143480.922 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-06-05T17:11:20.925Z,1749143480.925 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-06-05T17:11:20.931Z,1749143480.931 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-06-05T17:11:20.933Z,1749143480.933 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-06-05T17:11:20.940Z,1749143480.940 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-06-05T17:11:20.947Z,1749143480.947 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-06-05T17:11:20.949Z,1749143480.949 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-06-05T17:11:20.952Z,1749143480.952 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-06-05T17:11:20.954Z,1749143480.954 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-06-05T17:11:20.965Z,1749143480.965 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-06-05T17:11:20.974Z,1749143480.974 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-06-05T17:11:21.024Z,1749143481.024 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T17:11:21.132Z,1749143481.132 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T17:11:21.220Z,1749143481.220 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T17:11:21.237Z,1749143481.237 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T17:11:21.264Z,1749143481.264 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T17:11:21.287Z,1749143481.287 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T17:11:21.316Z,1749143481.316 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T17:11:21.351Z,1749143481.351 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T17:11:21.390Z,1749143481.390 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T17:11:21.470Z,1749143481.470 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T17:11:21.512Z,1749143481.512 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T17:11:21.583Z,1749143481.583 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T17:11:21.635Z,1749143481.635 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T17:11:21.693Z,1749143481.693 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T17:11:21.717Z,1749143481.717 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T17:11:21.770Z,1749143481.770 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T17:11:21.797Z,1749143481.797 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T17:11:21.878Z,1749143481.878 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-05T17:11:21.937Z,1749143481.937 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-06-05T17:11:21.945Z,1749143481.945 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-06-05T17:11:21.951Z,1749143481.951 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-06-05T17:11:21.953Z,1749143481.953 [OnDock:N.Docked](DEBUG): Construct.
2025-06-05T17:11:21.954Z,1749143481.954 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-06-05T17:11:21.998Z,1749143481.998 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-06-05T17:11:21.998Z,1749143481.998 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-05T17:11:22.056Z,1749143482.056 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission {
  """
  Wait on dock, communicating when possible
  """

  arguments {
    DockedTime = 8 hour
      """
      Time to stay on dock. Mission timeout will be five minutes longer.
      """

    DetachedTimeout = Dock:Docked.detachTimeout
      """
      Time duration limit for determining if the vehicle is detached from the
      dock.
      """

    RangeTimeout = Dock:Docked.rangeTimeout
      """
      Maximum allowed time without acoustic range.
      """

    TrackingUpdatePeriod = 2 minute
      """
      How long to wait between acoustic queries.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    MaxDepth = BIT:CBIT.stopDepth
      """
      Maximum depth while docked.
      """

    MinAltitude = 5 meter
      """
      Minimum altitude
      """

    MinOffshore = 2 km
      """
      Minimum offshore
      """

    StayOnDock = false
      """
      If true, don't detach from dock at end of mission
      """

    IfconfigInterval = 2 hour
      """
      How long to wait between ifconfig runs
      """

    RunScience = false
      """
      If true, run Science while on the dock.
      """

    # Mission variables (do not change)
    MissionTimeout = DockedTime
      """
      Mission timeout (local variable, do not change)
      """
  }

  timeout duration=MissionTimeout

  insert Insert/StandardEnvelopes.tl
  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  # End docking 5 minutes before end of mission to allow clean undock
  assign in sequence MissionTimeout = DockedTime + 5 minute

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Send data when connection exists
  aggregate dataRead {
    run while ( true )

    readDatum {
      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }
  }

  aggregate science {
    run in parallel

    break if ( not RunScience )

    insert Insert/Science.tl
  }

  behavior Estimation:TrackAcousticContact {
    run in parallel

    set contactLabelSetting = TransponderCode
    set numberOfSamplesSetting = NumberOfPings
    set updatePeriodSetting = TrackingUpdatePeriod
  }

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate PeriodicCheck {
    run in parallel

    aggregate CheckIP {
      run in sequence

      behavior Guidance:Execute {
        run in sequence

        set command = "! ifconfig"
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = IfconfigInterval
      }
    }
  }

  behavior Dock:Docked {
    run in sequence

    timeout duration=DockedTime

    set detachTimeout = DetachedTimeout
    set rangeTimeout = RangeTimeout
  }

  # Undock cleanly, instead of relying on DefaultWithUndock to come next
  aggregate Detach {
    run in sequence

    break if ( StayOnDock == true )

    syslog important "Mission ending, breaking off. Range: "
         + Estimation:TrackAcousticContact.range_to_contact~meter + "."

    behavior Dock:Undock {
      run in sequence
    }
  }
}


2025-06-05T17:11:22.057Z,1749143482.057 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-06-05T17:11:22.324Z,1749143482.324 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-05T17:11:22.325Z,1749143482.325 [DefaultWithUndock] Running Loop=1
2025-06-05T17:11:22.325Z,1749143482.325 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-05T17:11:22.325Z,1749143482.325 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-05T17:11:22.325Z,1749143482.325 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-05T17:11:27.484Z,1749143487.484 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 1.5 hour
2025-06-05T17:11:27.484Z,1749143487.484 [CommandExec](IMPORTANT): got command run
2025-06-05T17:11:27.488Z,1749143487.488 [CommandExec](IMPORTANT): Running 
2025-06-05T17:11:27.579Z,1749143487.579 [DefaultWithUndock] Stopped
2025-06-05T17:11:27.579Z,1749143487.579 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-05T17:11:27.579Z,1749143487.579 [DefaultWithUndock:A.Wait] Stopped
2025-06-05T17:11:27.580Z,1749143487.580 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T17:11:27.580Z,1749143487.580 [MissionManager](IMPORTANT): Started mission OnDock
2025-06-05T17:11:27.580Z,1749143487.580 [OnDock] Running Loop=1
2025-06-05T17:11:27.580Z,1749143487.580 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-06-05T17:11:27.580Z,1749143487.580 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-05T17:11:27.580Z,1749143487.580 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-06-05T17:11:27.580Z,1749143487.580 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T17:11:27.580Z,1749143487.580 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T17:11:27.581Z,1749143487.581 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T17:11:27.581Z,1749143487.581 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T17:11:27.581Z,1749143487.581 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T17:11:27.581Z,1749143487.581 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T17:11:27.581Z,1749143487.581 [OnDock:BackseatDriver] Running Loop=1
2025-06-05T17:11:27.581Z,1749143487.581 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-06-05T17:11:27.581Z,1749143487.581 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-05T17:11:27.581Z,1749143487.581 [OnDock:PowerOnly] Running Loop=1
2025-06-05T17:11:27.581Z,1749143487.581 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-06-05T17:11:27.582Z,1749143487.582 [OnDock:PowerOnly:A] Running Loop=1
2025-06-05T17:11:27.582Z,1749143487.582 [OnDock:PowerOnly:B] Running Loop=1
2025-06-05T17:11:27.582Z,1749143487.582 [OnDock:PowerOnly:C] Running Loop=1
2025-06-05T17:11:27.582Z,1749143487.582 [OnDock:PowerOnly:D] Running Loop=1
2025-06-05T17:11:27.582Z,1749143487.582 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-06-05T17:11:27.582Z,1749143487.582 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-05T17:11:27.582Z,1749143487.582 [OnDock:dataRead] Running Loop=1
2025-06-05T17:11:27.582Z,1749143487.582 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-06-05T17:11:27.583Z,1749143487.583 [OnDock:dataRead:A] Running Loop=1
2025-06-05T17:11:27.583Z,1749143487.583 [OnDock:science] Running Loop=1
2025-06-05T17:11:27.583Z,1749143487.583 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-06-05T17:11:27.583Z,1749143487.583 [OnDock:science:Science] Running Loop=1
2025-06-05T17:11:27.583Z,1749143487.583 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-06-05T17:11:27.583Z,1749143487.583 [OnDock:science:Science:A] Running Loop=1
2025-06-05T17:11:27.583Z,1749143487.583 [OnDock:science:Science:B] Running Loop=1
2025-06-05T17:11:27.583Z,1749143487.583 [OnDock:science:Science:C] Running Loop=1
2025-06-05T17:11:27.583Z,1749143487.583 [OnDock:science:Science:D] Running Loop=1
2025-06-05T17:11:27.583Z,1749143487.583 [OnDock:science:Science:E] Running Loop=1
2025-06-05T17:11:27.583Z,1749143487.583 [OnDock:science:Science:F] Running Loop=1
2025-06-05T17:11:27.583Z,1749143487.583 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-06-05T17:11:27.583Z,1749143487.583 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-06-05T17:11:27.584Z,1749143487.584 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-06-05T17:11:27.584Z,1749143487.584 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-06-05T17:11:27.584Z,1749143487.584 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-06-05T17:11:27.584Z,1749143487.584 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-06-05T17:11:27.584Z,1749143487.584 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-06-05T17:11:27.584Z,1749143487.584 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-06-05T17:11:27.584Z,1749143487.584 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-06-05T17:11:27.584Z,1749143487.584 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T17:11:27.584Z,1749143487.584 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T17:11:27.585Z,1749143487.585 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-06-05T17:11:27.585Z,1749143487.585 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-06-05T17:11:27.585Z,1749143487.585 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-06-05T17:11:27.585Z,1749143487.585 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-06-05T17:11:27.585Z,1749143487.585 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-06-05T17:11:27.585Z,1749143487.585 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-06-05T17:11:27.585Z,1749143487.585 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-06-05T17:11:27.585Z,1749143487.585 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-06-05T17:11:27.586Z,1749143487.586 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T17:11:27.586Z,1749143487.586 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T17:11:27.586Z,1749143487.586 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-06-05T17:11:27.586Z,1749143487.586 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-06-05T17:11:27.587Z,1749143487.587 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-05T17:11:27.587Z,1749143487.587 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-06-05T17:11:27.587Z,1749143487.587 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-06-05T17:11:27.587Z,1749143487.587 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-05T17:11:27.587Z,1749143487.587 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-06-05T17:11:27.587Z,1749143487.587 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-06-05T17:11:27.587Z,1749143487.587 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T17:11:27.587Z,1749143487.587 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T17:11:27.588Z,1749143487.588 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T17:11:27.588Z,1749143487.588 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T17:11:27.588Z,1749143487.588 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T17:11:27.588Z,1749143487.588 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T17:11:27.588Z,1749143487.588 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T17:11:27.588Z,1749143487.588 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T17:11:27.588Z,1749143487.588 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T17:11:27.588Z,1749143487.588 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T17:11:27.589Z,1749143487.589 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T17:11:27.589Z,1749143487.589 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T17:11:27.589Z,1749143487.589 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T17:11:27.589Z,1749143487.589 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T17:11:27.589Z,1749143487.589 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T17:11:27.589Z,1749143487.589 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T17:11:27.589Z,1749143487.589 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T17:11:27.589Z,1749143487.589 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T17:11:27.589Z,1749143487.589 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T17:11:27.590Z,1749143487.590 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T17:11:27.590Z,1749143487.590 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T17:11:27.591Z,1749143487.591 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T17:11:27.591Z,1749143487.591 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T17:11:27.591Z,1749143487.591 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T17:11:27.592Z,1749143487.592 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T17:11:27.592Z,1749143487.592 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T17:11:27.592Z,1749143487.592 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-06-05T17:11:27.592Z,1749143487.592 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-06-05T17:11:27.592Z,1749143487.592 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-05T17:11:27.592Z,1749143487.592 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-05T17:11:27.592Z,1749143487.592 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-06-05T17:11:27.593Z,1749143487.593 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-06-05T17:11:27.593Z,1749143487.593 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-06-05T17:11:27.593Z,1749143487.593 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-05T17:11:27.593Z,1749143487.593 [OnDock:J.] Running Loop=1
2025-06-05T17:11:27.593Z,1749143487.593 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-06-05T17:11:27.593Z,1749143487.593 [OnDock:PeriodicCheck] Running Loop=1
2025-06-05T17:11:27.593Z,1749143487.593 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-06-05T17:11:27.593Z,1749143487.593 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-06-05T17:11:27.593Z,1749143487.593 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-06-05T17:11:27.594Z,1749143487.594 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-06-05T17:11:27.594Z,1749143487.594 [OnDock:B] Running Loop=1
2025-06-05T17:11:27.594Z,1749143487.594 [OnDock:PeriodicCheck] Running Loop=1
2025-06-05T17:11:27.595Z,1749143487.595 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-06-05T17:11:27.595Z,1749143487.595 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-06-05T17:11:27.595Z,1749143487.595 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-06-05T17:11:27.595Z,1749143487.595 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-06-05T17:11:27.595Z,1749143487.595 [OnDock:J.] Running Loop=1
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:J.](ERROR): Failed to read sound speed
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:science] Stopped
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:science:Science] Stopped
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:science:Science:A] Stopped
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:science:Science:B] Stopped
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:science:Science:C] Stopped
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:science:Science:D] Stopped
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:science:Science:E] Stopped
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:science:Science:F] Stopped
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:science:Science:Read_Oil] Stopped
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:science:Science:OceanCurrent] Stopped
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-06-05T17:11:27.596Z,1749143487.596 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-06-05T17:11:27.597Z,1749143487.597 [OnDock:science:Science:PeakDetectChl] Stopped
2025-06-05T17:11:27.597Z,1749143487.597 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-06-05T17:11:27.597Z,1749143487.597 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-06-05T17:11:27.597Z,1749143487.597 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-06-05T17:11:27.597Z,1749143487.597 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-06-05T17:11:27.597Z,1749143487.597 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-06-05T17:11:27.597Z,1749143487.597 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-06-05T17:11:27.597Z,1749143487.597 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-06-05T17:11:27.597Z,1749143487.597 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T17:11:27.597Z,1749143487.597 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T17:11:27.597Z,1749143487.597 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-06-05T17:11:27.597Z,1749143487.597 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-06-05T17:11:27.597Z,1749143487.597 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-06-05T17:11:27.598Z,1749143487.598 [OnDock:science:Science:PeakDetectOil] Stopped
2025-06-05T17:11:27.598Z,1749143487.598 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-06-05T17:11:27.598Z,1749143487.598 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-06-05T17:11:27.598Z,1749143487.598 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-06-05T17:11:27.598Z,1749143487.598 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-06-05T17:11:27.598Z,1749143487.598 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T17:11:27.598Z,1749143487.598 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T17:11:27.598Z,1749143487.598 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-06-05T17:11:27.598Z,1749143487.598 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-06-05T17:11:27.598Z,1749143487.598 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-06-05T17:11:27.599Z,1749143487.599 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-06-05T17:11:27.599Z,1749143487.599 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-06-05T17:11:27.599Z,1749143487.599 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-06-05T17:11:27.599Z,1749143487.599 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-06-05T17:11:27.599Z,1749143487.599 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-06-05T17:11:27.599Z,1749143487.599 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T17:11:27.599Z,1749143487.599 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T17:11:27.599Z,1749143487.599 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-05T17:11:27.599Z,1749143487.599 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T17:11:27.599Z,1749143487.599 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T17:11:27.599Z,1749143487.599 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-05T17:11:27.599Z,1749143487.599 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T17:11:27.599Z,1749143487.599 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T17:11:27.600Z,1749143487.600 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-05T17:11:27.600Z,1749143487.600 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T17:11:27.600Z,1749143487.600 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T17:11:27.600Z,1749143487.600 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-05T17:11:27.600Z,1749143487.600 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T17:11:27.600Z,1749143487.600 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T17:11:27.600Z,1749143487.600 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-05T17:11:27.600Z,1749143487.600 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T17:11:27.600Z,1749143487.600 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T17:11:27.600Z,1749143487.600 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-05T17:11:27.600Z,1749143487.600 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T17:11:27.600Z,1749143487.600 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T17:11:27.600Z,1749143487.600 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T17:11:27.601Z,1749143487.601 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T17:11:27.601Z,1749143487.601 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T17:11:27.601Z,1749143487.601 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T17:11:27.601Z,1749143487.601 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T17:11:27.601Z,1749143487.601 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T17:11:27.601Z,1749143487.601 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-06-05T17:11:27.601Z,1749143487.601 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-06-05T17:11:27.601Z,1749143487.601 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-05T17:11:27.601Z,1749143487.601 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-05T17:11:27.601Z,1749143487.601 [OnDock:dataRead] Running Loop=1
2025-06-05T17:11:27.602Z,1749143487.602 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-05T17:11:27.602Z,1749143487.602 [OnDock:PowerOnly] Running Loop=1
2025-06-05T17:11:27.603Z,1749143487.603 [OnDock:PowerOnly:D] Stopped
2025-06-05T17:11:27.603Z,1749143487.603 [OnDock:PowerOnly:C] Stopped
2025-06-05T17:11:27.603Z,1749143487.603 [OnDock:PowerOnly:B] Stopped
2025-06-05T17:11:27.603Z,1749143487.603 [OnDock:PowerOnly:A] Stopped
2025-06-05T17:11:27.603Z,1749143487.603 [OnDock:BackseatDriver] Running Loop=1
2025-06-05T17:11:27.603Z,1749143487.603 [OnDock:B] Stopped
2025-06-05T17:11:27.603Z,1749143487.603 [OnDock:C] Running Loop=1
2025-06-05T17:11:27.603Z,1749143487.603 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-05T17:11:27.604Z,1749143487.603 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T17:11:27.604Z,1749143487.604 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T17:11:27.604Z,1749143487.604 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T17:11:27.695Z,1749143487.695 [CommandExec](IMPORTANT): got command ! ifconfig
2025-06-05T17:11:27.997Z,1749143487.997 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:4B  
            inet addr:10.89.10.2  Bcast:10.89.255.255  Mask:255.255.0.0
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:6421951 errors:0 dropped:0 overruns:0 frame:0
            TX packets:8404430 errors:0 dropped:0 overruns:0 carrier:0
            collisions:134741 txqueuelen:1000 
            RX bytes:2461343476 (2347.3 Mb)  TX bytes:1247831316 (1190.0 Mb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:4079 errors:0 dropped:0 overruns:0 frame:0
            TX packets:4079 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:391981 (382.7 Kb)  TX bytes:391981 (382.7 Kb)
  
  
2025-06-05T17:11:28.469Z,1749143488.469 [OnDock:C] Stopped
2025-06-05T17:11:28.473Z,1749143488.473 [OnDock:D] Running Loop=1
2025-06-05T17:11:28.801Z,1749143488.801 [OnDock:D] Stopped
2025-06-05T17:11:28.801Z,1749143488.801 [OnDock:E] Running Loop=1
2025-06-05T17:11:29.203Z,1749143489.203 [OnDock:E] Stopped
2025-06-05T17:11:29.203Z,1749143489.203 [OnDock:K] Running Loop=1
2025-06-05T17:11:29.631Z,1749143489.631 [OnDock:K](IMPORTANT): Restarting logs
2025-06-05T17:11:29.631Z,1749143489.631 [OnDock:K] Stopped
2025-06-05T17:11:29.631Z,1749143489.631 [OnDock:L.Execute] Running Loop=1
2025-06-05T17:11:30.003Z,1749143490.003 [OnDock:L.Execute](INFO): Executing command restart logs
2025-06-05T17:11:30.003Z,1749143490.003 [OnDock:L.Execute] Stopped
2025-06-05T17:11:30.003Z,1749143490.003 [OnDock:N.Docked] Running Loop=1
2025-06-05T17:11:30.003Z,1749143490.003 [OnDock:N.Docked](DEBUG): Initialize.
2025-06-05T17:11:30.003Z,1749143490.003 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-06-05T17:11:30.055Z,1749143490.055 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T17:11:30.056Z,1749143490.056 [DockingStepper](INFO): Standby mode.